vision sensor fh/fz5 series vision system user's manual for

Vision Sensor

FH/FZ5 Series

Vision System

User’s Manual for Communications Settings

Z342-E1-05

FH-1@@@FH-3@@@

FZ5-L35@FZ5-6@@FZ5-11@@

Introduction

Thank you for purchasing the FH/FZ5. This manual provides information regarding functions, performance and operating methods that are required for using the FH/FZ5. When using the FH/FZ5, be sure to observe the following:

• The FH/FZ5 must be operated by personnel knowledgeable in electrical engineering. • To ensure correct use, please read this manual thoroughly to deepen your understanding of the

product. • Please keep this manual in a safe place so that it can be referred to whenever necessary.

About copyright and trademarks IJG Code is copyright (C) 1991, 2011, Thomas G. Lane, Guido Vollbeding. This software is based in part on the work of the Independent JPEG Group.

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

FH/FZ5 Manual ConfigurationThe following table gives the manual configuration of the FH/FZ5.

Conventions Used in This Manual

SymbolsThe symbols used in this manual have the following meanings.

Use of Quotation Marks and BracketsIn this manual, menus and other items are indicated as follows.

Cat. No. Manual name Contents Main applications

2285550-0FH Image Processing System Instruction Manual

Provides FH-series specifications, dimensions, part names, I/O information, mounting information, and wiring information. Checking I/O and other

specifications and performing installation and wiring

9524422-4 (FZ5-6 /11 ) FH5 Image Processing

System Instruction Manual

Provides FH5-series specifications, dimensions, part names, I/O information, installation information, and wiring information.

9910002-2 (FZ5-L3 )

Z340Vision System FH/FZ5 Series User’s Manual

Describes the software functions, settings, and operations for using FH/FH5-series Vision Sensors.

Any application other than the above applications and communications

Z341Vision System FH/FZ5 Series Processing Item Function Reference Manual

Describes the functions, settings, and operations of the processing items that you can use with the FH/FH5-series Vision Sensors.

Checking information on processing items when designing or manipulating measurement flowsUse this manual together with the User’s Manual.

Z342(This manual)

Vision System FH/FZ5 Series User’s Manual for Communications Settings

Describes the functions, settings, and communications methods for communicating between FH/FH5-series Vision Sensors and external devices (e.g., a PLC).The following communications protocols are included.Parallel, PLC Link, EtherNet/IP, EtherCAT, and Non-procedure

Checking information on communications functions

Z343Vision System FH Series Operation Manual for Sysmac Studio

Describes the operating procedures for setting up and operating FH-series Vision Sensors from the Sysmac Studio FH Tools.

Communicating with an NJ-series Controller via EtherCAT communications

Indicates relevant operational precautions that must be followed.

Indicates operation-related suggestions from OMRON.

[ ] Menu Indicates the menu names or processing items shown in the menu bar.

“ ” Item name Indicates the item names displayed on the screen.

IMPORTANT

Note

1Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

MEMO

Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

Contents
FH/FZ5 Manual Configuration .............................................................................................................. 1Conventions Used in This Manual ........................................................................................................ 1
1. Overview .........................................................................................................................................7Introduction ................................................................................................................................................ 8Confirming the System Configuration ........................................................................................................ 9

System Configuration ........................................................................................................................... 9Communicating with an External Device ................................................................................................. 10

Basic Control Operations of the Sensor Controller ............................................................................. 10Communication between the Sensor Controller and an External Device ........................................... 12Control Methods for the Sensor Controller ......................................................................................... 13Communication Protocols for Communication with the Sensor Controller ......................................... 15Saving Sensor Controller Data to an External Device ........................................................................ 16

Control Methods Using an External Device ............................................................................................. 18Control with Control Signals and Status Signals ................................................................................ 18Command/Response Method ............................................................................................................. 21Data Output after Measurements ....................................................................................................... 22

Setting Procedures for Communications ................................................................................................. 30Communications Setup Procedures ................................................................................................... 30Communications Protocols and Communications Modules ................................................................ 31

Differences in Specifications Based on the Communications Protocol .................................................... 32List of Supported Signals by Communications Protocol ..................................................................... 32Restrictions when Using Different Communication Protocols Simultaneously ................................... 34Models That Are Compatible with the Communications Protocols ..................................................... 35

2. Methods for Connecting and Communicating with External Devices ....................................39EtherCAT Connections (FH Only) ............................................................................................................ 40

Introduction to EtherCAT .................................................................................................................... 40Structure of CAN Application Protocol over EtherCAT (CoE) ............................................................. 43EtherCAT Slave Information Files (ESI Files) ..................................................................................... 44Transitions of Communications States ............................................................................................... 45Process Data Objects (PDOs) ............................................................................................................ 46Service Data Objects (SDOs) ............................................................................................................. 49Communications between an EtherCAT Master and Slaves .............................................................. 50FH-series Vision Sensor Communications Method When Connected to EtherCAT ........................... 51Communications Settings ................................................................................................................... 55Communications Module Settings (Startup Settings) ......................................................................... 57Communications Specifications Settings ............................................................................................ 58Output Data Settings (Processing Item Registration) ......................................................................... 61EtherCAT Network Configuration Settings ......................................................................................... 63Communications Test ......................................................................................................................... 65I/O Ports by Area (PDO Mapping) and Memory Assignments ............................................................ 65I/O Signals .......................................................................................................................................... 70Measurement Results That You Can Output with Fieldbus Data Output ........................................... 74Command List ..................................................................................................................................... 76Measurement Trigger Input ................................................................................................................ 79Command Response Processing ....................................................................................................... 80Data Output ........................................................................................................................................ 83Time Charts ........................................................................................................................................ 85


4

EtherCAT Troubleshooting ................................................................................................................. 89Sysmac Error Status ........................................................................................................................... 90Sysmac Device Features .................................................................................................................. 103Object Dictionary .............................................................................................................................. 105

Communicating with PLC Link ............................................................................................................... 152Communications Processing Flow .................................................................................................... 152Communications Setup Procedures ................................................................................................. 154Communications Module Settings (Startup Settings) ....................................................................... 154Communications Specifications Settings .......................................................................................... 156Output Data Settings (Processing Item Registration) ....................................................................... 173Testing Communications .................................................................................................................. 178Memory Allocation ............................................................................................................................ 181I/O Signals ........................................................................................................................................ 184Output Items ..................................................................................................................................... 186Command List ................................................................................................................................... 188Command Response Processing ..................................................................................................... 191Data Output ...................................................................................................................................... 194Time Charts ...................................................................................................................................... 196PLC Link Troubleshooting ................................................................................................................ 199

Communicating with EtherNet/IP ........................................................................................................... 202Introduction to EtherNet/IP ............................................................................................................... 202Data Exchange with EtherNet/IP ...................................................................................................... 203EtherNet/IP Communications ........................................................................................................... 206Communications Processing Flow .................................................................................................... 207Communications Setup Procedures ................................................................................................. 208Communications Module Settings (Startup Settings) ....................................................................... 209Communications Specifications Settings .......................................................................................... 210Tag Data Link Setting Methods ........................................................................................................ 214Output Data Settings (Processing Item Registration) ....................................................................... 217Testing Communications .................................................................................................................. 221Memory Allocation ............................................................................................................................ 223I/O Signals ........................................................................................................................................ 230Output Items ..................................................................................................................................... 233Command List ................................................................................................................................... 234Command Response Processing ..................................................................................................... 238Data Output ...................................................................................................................................... 241Time Charts ...................................................................................................................................... 243Communicating with the Sensor Controller with EtherNet/IP Message Communications ................ 247Command Setting Example .............................................................................................................. 250EtherNet/IP Troubleshooting ............................................................................................................ 250

Non-procedure Communications ........................................................................................................... 252Communications Processing Flow .................................................................................................... 252Communications Setup Procedures ................................................................................................. 253Communications Module Settings (Startup Settings) ....................................................................... 254Communications Specifications Settings .......................................................................................... 255Output Data Settings (Processing Item Registration) ....................................................................... 262Testing Communications .................................................................................................................. 267Output Items ..................................................................................................................................... 270Command Formats ........................................................................................................................... 271Command List ................................................................................................................................... 273Output Format ................................................................................................................................... 277Non-procedure Communications Troubleshooting ........................................................................... 279


Parallel Communications ....................................................................................................................... 280Communications Processing Flow .................................................................................................... 280Communications Setup Procedures ................................................................................................. 281Communications Module Settings (Startup Settings) ....................................................................... 282Communications Specifications Settings .......................................................................................... 283Output Data Settings (Processing Item Registration) ....................................................................... 290Testing Communications .................................................................................................................. 297I/O Signals ........................................................................................................................................ 299Output Items ..................................................................................................................................... 308Command Formats ........................................................................................................................... 310Time Charts ...................................................................................................................................... 314Parallel Troubleshooting ................................................................................................................... 323

3. Appendices .................................................................................................................................325Command Control .................................................................................................................................. 326

Parameter Notation Examples for Command Control ...................................................................... 326Details of Commands Used in EtherCAT Communication ............................................................... 330Command List ................................................................................................................................... 331Command Details for PLC Link, EtherNet/IP, and EtherCAT ........................................................... 337Non-procedure Command Details .................................................................................................... 397

Manual Revision History ........................................................................................................................ 481


6
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)

1

Overview
Overview
This section provides a basic overview of the communications specifications and Sensor Controller control methods. This information is required before performing communications between the FH/FZ5 and an external device.

Introduction.......................................................................... 8 Confirming the System Configuration............................... 9 Communicating with an External Device ........................ 10 Control Methods Using an External Device .................... 18 Setting Procedures for Communications........................ 30 Differences in Specifications Based on the Communications Protocol................................................ 32

8

Introduction
This section provides a basic overview of the communications specifications and Sensor Controller control methods. This information is required before performing communications between the FH/FZ5 and an external device.
Confirming the System Configuration (Refer to Confirming the System Configuration (p.9))

This section describes the external device configuration that is required to perform measurement processing with the FH/FZ5.

↓

Communicating with an External Device

This section describes the basic operations of the Sensor Controller, how the Sensor Controller works, and the specifications for communications between the Sensor Controller and an external device. The following information is provided.Basic Flow of Communications and Signals (Refer to Basic Control Operations of the Sensor Controller (p.10))• Process from Starting Measurements at the Sensor Controller to Data Output (Reference: Communication between the

Sensor Controller and an External Device (p.12))• Sensor Controller Control Methods (Control Signals, Commands, etc.) (Refer to Control Methods for the Sensor

Controller (p.13))• Types of Communications Protocols for Communicating with the Sensor Controller (Refer to Communication

Protocols for Communication with the Sensor Controller (p.15))• Moving Data between the Sensor Controller and an External Device (Refer to Saving Sensor Controller Data to an

External Device (p.16))

↓

Control Methods Using an External Device

This section describes the methods that you can use to control the Sensor Controller from an external device.Control with Control Signals and Status Signals (Refer to Control with Control Signals and Status Signals (p.18))Command/Response Method (Refer to Command/Response Method (p.21))Data Output after Measurements (Refer to Data Output after Measurements (p.22))

↓

Setting Procedures for Communications (Refer to Setting Procedures for Communications (p.30))

This section describes the procedures that are required to set up communications before starting communications between the Sensor Controller and an external device.

↓

Differences in Specifications Based on the Communications Protocol

(Refer to Communications Protocols and Communications Modules (p.31))

This section explains the types and differences of communication protocols that are used for communication with the Sensor Controller.

Introduction Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

Confirming the System Configuration

1

Overview

The FH/FZ5 are Vision Systems that perform measurement processing through a Sensor Controller on measurement objects that are imaged by a Camera.In a system configuration that is connected to a PLC, computer, or other external device, measurement commands can be received from and measurement results can be output to the external device.

System ConfigurationAn overview of the FH/FZ5 series system configuration is given below.

Sensor ControllerExternal device (e.g, PLC)

Parallel Parallel I/O cable Ethernet cable PLC Link RS-232C cable

EtherNet/IP Ethernet cable EtherCAT (FH only) Ethernet cable

Ethernet cable Non-procedure RS-232C cable

Camera

Communications protocol Communications cable

An LCD monitor (BOX type only) for operation and monitoring and a camera are connected to the Sensor Controller unit. For details, refer to the Instruction Manual that is provided with each individual device.

The Sensor Controller is connected to an external device (PLC, etc.) by a communication cable, and communication can be performed using various communication protocols. Methods for Connecting and Communicating with External Devices (p.39) for information on the different communications protocols.

Confirming the System Configuration9


10

Communicating with an External Device
This section gives the communications specifications, describes the control methods that you can use for communications, and describes the settings that are required before starting communications with an external device.
Basic Control Operations of the Sensor ControllerThe following figure shows basic communications between an external device and the Sensor Controller and the flow of signals and data.

The following methods can be used to exchange data between an external device and the Sensor Controller.

Commands That Can Be Input to the Sensor Controller from an External Device

Data Output to an External Device from the Sensor Controller

Type Description

Control commands

Control signals (input signals)

A measurement is executed when a measurement trigger (i.e., an ON STEP signal) is input.For information on control signals, refer to Control with Control Signals and Status Signals (p.18).

Communications command input

You can send commands to perform measurements, change scene groups, or perform other tasks. The communications commands depend on the communications protocol that you use. Refer to the section for each communications protocol for details.

Type Description

Status signals

When the Sensor Controller confirms a control signal or communications command input and begins measurement processing, the status of the Sensor is reported to the external device through status signals (e.g., a BUSY signal).For information on status signals, refer to Control with Control Signals and Status Signals (p.18).

Overall judgement

NG is output whenever there is one or more NGs in the judgement results for multiple processing items.*1

The overall judgement can be output through the OR signal or through the TJG output parameter.*1: This behavior can be changed in the settings.

For information on the OR signal, refer to Control with Control Signals and Status Signals (p.18). For information on the TJG output parameter.

Measured values

The measured values from processing items can be output. The output items must be processing items for output and registered as output data (data 0 to data 7). Refer to Settings Required for Data Output (p.24) for details. You can also use commands to obtain results after a measurement is performed.

Trigger sensor

PLCExternal device

External device

PLC The measurement results are output.• Status signals• Overall judgement• Measured values• Character output

Sensor Controller

Measurement triggers and other control commands are input.

Communicating with an External Device Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

1

Overview

Character output (PLC Link or non-procedure communications only)

You can output character strings and numbers that are read by processing items such as Character Inspection, Barcode, or 2DCode. Refer to Items that Can Be Output as Output Data (p.24) for details.You can also use commands to obtain results after a measurement is performed.

You can also use the FTP server to obtain logged image files and logged data files saved in the FH/FZ5 (or in external memory) from a web browser or FTP client.

Type Description

Note

Communicating with an External Device11


12

Communication between the Sensor Controller and an External DeviceCommunication between the Sensor Controller and external device takes place as shown below.The following figure shows the flow when a communications command is used to start a measurement and then output data.

(1) When the Sensor Controller receives a command from a PLC or other external device, it executes the command and returns a response.

(2) The data obtained after the measurement is performed is output via the Communications Module by the Output Unit (an abbreviation for Results Output Unit) processing item in the measurement flow.

(3) The measurement data is output when the Output Unit is executed, not when the measurement is actually finished.(*2)

*2: If handshaking is used for output control, the measurement data will remain in the Communications Module in a standby state until a data output request (DSA signal) is received from an external device. Refer to Data Output Control with Handshaking (p.27).

To output data, you must place an Output Unit processing item in the measurement flow.You can place multiple Output Unit processing items in the measurement flow. Refer to Settings Required for Data Output (p.24).

PLC or other external device

Camera Input

Search

Output Unit

Measurement flow

Sensor Controller

Communications Module

Communications processing

Example: Starting a measurement, etc.

Response

Data output request (DSA signal)*1

Result Completion signal (GATE signal)*1

(1) Command

Communications processing

(2) The data at this point is output to the Communications Module.

An Output Unit processing item is required to perform data output. (Multiple Output Unit items can be used.)

(3) Data output

*1: When output control is set to [Handshaking] (data output is controlled by the DSA and GATE signals). Refer to Control with Control Signals and Status Signals (p.18).

IMPORTANT


1

Overview

Control Methods for the Sensor ControllerThere are three methods that you can use to control the Sensor Controller from a PLC or other external device. They are described in this section.For details on each control method, refer to their corresponding section.

Control Methods

1 Control with Control Signals and Status Signals (Refer to Control with Control Signals and Status Signals (p.18))Control and status confirmation for the Sensor Controller is performed with the ON/OFF status of the control and status signals.This method is best suited for basic operations such as measurement triggers or to check the operating status of the Sensor Controller.

2 Command/Response Method (Refer to Command/Response Method (p.21))Control is performed by storing the control command and the response to that command in the I/O memory of a PLC.This method is best suited to send multiple commands to the Sensor Controller without using PLC communications instructions.

Method Overview Trigger type or area Signals or area used

Control signals and status signals

Operation is controlled by the ON/OFF status of the Measurement Trigger Signal (STEP) and Command Request Bit (EXE).

ON/OFF status of the control signals and status signals

Control signals and status signals

Control with commands and responses

Control is performed by sending control commands. The execution results of the command can be confirmed in the response from the Sensor Controller.

The control command code is stored in the I/O memory of the PLC and then the Request Bit is turned ON.

PLC I/O memory (Command Area and Response Area)

Data output after measurements

After a measurement is performed, the previously specified measurement data is output automatically.

Not required. (Output is performed automatically after measurement.)

PLC I/O memory (Data Output Area)

Trigger sensor

External device

Status signal

Control signal

Sensor Controller



14

3 Data Output after Measurements (Refer to Data Output after Measurements (p.22))After a measurement is executed, the measurement data specified for output is automatically output to the specified words in the I/O memory of the PLC.This allows you to output measurement results from the Sensor Controller to the PLC automatically without having to send data requests from the PLC.

External device

I/O memory

Sensor Controller

Command AreaResponse Area

(1) Command

(3) ResponseOutput Area

(2) Command execution

External device

I/O memory

Sensor Controller

Command AreaResponse Area

(2) Measurement dataOutput Area (1) Measurement processing


1

Overview

Communication Protocols for Communication with the Sensor ControllerThe Sensor Controller can be controlled from a PLC, computer, or other external device using a variety of communication protocols.The communication protocols that can be used to control the Sensor Controller from an external device are described below.

Applicable Communications ProtocolsThe communication protocols of each communication method that can be used with the Sensor Controller are as follows:

OK: Supported, ---: Not supported.

Communi-cations method

Communi-cations protocol

OverviewCommunications cable type

Parallel I/O Ethernet RS-232C/

422

Contact inputs

ParallelData is exchanged between an external device and the Sensor Controller through combinations of ON/OFF signals from multiple physical contacts.

OK --- ---

Data sharing

PLC Link

This is OMRON’s communications protocol for Vision System.The control signals, Command Area/Response Area, and area to store measurement data are assigned in the I/O memory of the PLC, and data is exchanged cyclically to share data between the PLC and the Vision System.

--- OK OK

EtherNet/IP

This is an open communications protocol.Tag data links are used for communication with the Sensor Controller.On the PLC, structure variables are created that correspond to the control signals, command/response data, and measurement data. These variables are then used as tags to input and output data through tag data links to exchange data between the PLC and the Sensor Controller.*1

--- OK ---

EtherCAT (FH only)

This is an open communications protocol.PDO (process data object) communications are used to communicate with the Sensor Controller.I/O ports that correspond to the control signals, command/response data, and measurement data are prepared in advance, and the variables assigned to those I/O ports are used to input and output data via PDO communications to exchange data between the PLC and the Sensor Controller.

--- OK ---

PLC

Computer

EtherNet/IP

EtherCAT

Non-procedure

Parallel

PLC Link

Sensor Controller

Control can be performed through different communi-cations protocols.



16

*1: When connected to a CJ-series PLC, specify the areas in the I/O memory.

Saving Sensor Controller Data to an External DeviceIn addition to sending and receiving data via a communication protocol, you can also save Sensor Controller data to an external device using the methods described below.For details, refer to the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

Connecting the FH/FZ5 as an External DriveIn addition to the Sensor Controller's built-in RAM disk, you can directly save various types of data such as scene data, scene group data, logged data, and logged images to the external media below.• External Memory (Refer to Using External Memory Devices in the Vision System FH/FZ5 Series User's Manual

(Cat. No. Z340).) Data can be saved directly to a USB memory stick or SD Memory Card inserted into the slot on the Sensor Controller.

• Network Drive (Refer to Shared folder on a computer connected to the network in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).You can save data directly to a shared folder on a computer connected via Ethernet.

• Data Transfer (FTP Server) (Refer to Saving Data to an External Device in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340). You can move logged image files and other data saved in the Sensor Controller's RAM disk or a USB memory stick to a computer via Ethernet.The computer must provide FTP client to access the FH/FZ5.The computer cannot be accessed directly from the Sensor Controller.

• Remote Operation over a Network (Refer to Remotely Operating the Controller (Remote Operation) in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).)

Frame transmission

Non-procedure

Command frames are sent to the Sensor Controller and response frames are received from the Sensor Controller without the use of any specific protocol.Data can be exchanged between the PLC, computer, or other external device and the Sensor Controller by sending and receiving ASCII or binary format data.

--- OK OK

OK: Supported, ---: Not supported.

Communi-cations method

Communi-cations protocol

OverviewCommunications cable type

Parallel I/O Ethernet RS-232C/

422

Computer Sensor Controller

Ethernet

Saved directly.

• Logged images• Logged data

Shared computer folder (the shared folder settings must be set on the computer)

The Sensor Controller is set up to save to the shared folder on the computer.

Computer

Browser (FTP client)

Sensor Controller (FTP server)

Ethernet

Access via FTP

RAM disk

Images files moved to the computer.

Image files

This enables you to move logged images off of the Sensor Controller’s RAM disk before it becomes full.


1

Overview

If more than one Sensor Controller is connected via Ethernet, a computer (the FH/FZ5 Tool) connected to the same Ethernet network can be used to operate and monitor all the Sensor Controllers at once.

Sensor Controller

Ethernet

Computer (FH/FZ5 software)

Hub

Sensor Controller

Sensor Controller

Operate/monitor



18

Control Methods Using an External Device
This section describes the methods that you can use to control the Sensor Controller from a PLC or other external device.
Control with Control Signals and Status SignalsControl and status confirmation for the Sensor Controller is performed with the ON/OFF status of the control and status signals.Measurement triggers and other commands are input as control signals from the PLC.The operating status of the Sensor, judgement results, and other status information can be confirmed through status signals sent from the Sensor Controller.

(1) The external device turns ON the STEP signal to input a measurement trigger.

(2) When the Sensor Controller confirms that the STEP signal is ON, it outputs the BUSY signal to the external device and begins a measurement.

(3) When the Sensor Controller finishes the measurement, it outputs the judgement results on the OR signal.

Control Signals and Status Signals

The signals that the Sensor Controller can input and output as control signals and status signals are described in the following tables.

Input Signals (PLC to Sensor Controller)

Signal Signal name Function

EXE Control Command Execution Signal

Turn ON this signal (from the PLC) to send a command to the FH/FZ5.Command Request

Trigger Measure Bit Turn ON this signal to execute measurements.

STEP Measure Bit Turn ON this signal to execute measurements.

DSA(Used only for handshaking output control.) Data Output Request Signal

Use this signal (from the PLC) during handshaking to request from the FH/FZ5 the external output of the data output results from the execution of the measurement flow.

Result Set Request

ERCLRError Clear Bit

Turn ON this signal to clear the ERR signal from the Sensor Controller.Error Clear

XEXEFlow Command Request Bit

Turn ON this signal to execute a command during execution of PLC Link, fieldbus, or parallel flow control.Flow Command Request

DI (DI0 to DI7) Command Input SignalsThese signals are used to input commands from a parallel interface.

Trigger sensor Sensor Controller

(1) Measurement trigger input (STEP signal: ON).

Control signal

(2) Command received. (BUSY signal turned ON.)

(3) Judgement results are output. (OR signal turned ON.)

Status signals External device

Control Methods Using an External Device Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

1

Overview

Output Signals (Sensor Controller to PLC)

ENCTRIGEncoder Trigger Input (Phase A, Phase B, or Phase Z)

This is the encoder input signal. This signal is only used when you use an encoder trigger.


BUSY Busy Signal

This signal tells when new commands and other external inputs cannot be acknowledged during processing of other external inputs.Just because this signal is ON does not necessarily mean that a command is being executed. To check whether a command is being executed, access the Command Completion (FLG) signal.

FLG Control Command Completion Signal

The FH/FZ5 uses this signal to tell the user (PLC) that command execution has been completed.Command Completion

GATEData Output Completion Signal

This signal tells the user (PLC) when to read the measurement results.Data output is enabled when this signal is ON.*1Result Notification

READY

Camera Image Input Enabled Signal

This signal indicates when the STEP (Measurement Trigger) signal or the Trigger signal can be input.*2

When using the multi-input function, the succeeding STEP or Trigger signals are accepted only after this signal turns ON.

Trigger Ready

OR Overall Judgement Output Signal

This signal gives the results of the overall judgement.*3Overall Judgment

DO (DO0 to DO15) Data Output SignalsThese signals are used to output parallel data and parallel judgements through a parallel interface.

XFLGFlow Command Completion Bit

This signal tells when execution of a command that was executed during execution of PLC Link or fieldbus flow control has been completed.Flow Command Completion

XBUSYMeasurement Command Busy Bit

This signal tells when a command that was input during execution of PLC Link or fieldbus flow control is being executed.Flow Command Busy

XWAITMeasurement Command Wait Bit

This signal tells when input of a command can be acknowledged during execution of PLC Link or fieldbus flow control.Flow Command Wait

Trigger ACKTrigger Signal Acknowledged Bit

The FH/FZ5 uses this signal to acknowledge reception of a Trigger signal.

Command ReadyCommand Execution Ready Bit

This signal tells when control command can be executed.

ERR

Error Signal

The FH/FZ5 provides notification with this signal when it detects the following errors.Refer to Error Messages and Troubleshooting in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

Error Status• Camera connection error• Battery error• Fan error

• System error• Communications timeout• STEP input during

measurement

The ERR signal does not turn OFF even after the error is eliminated. The signal turns OFF only when the error status is cleared by a control command.


Control Methods Using an External Device19


20

*1: This signal is linked to the Output Unit processing items in the measurement flow.It is not associated with the BUSY signal. It is not related to the parallel interface OR signal. Note that the operation is different when using PLC Link. See Communicating with PLC Link (p.152).

*2: This signal is always OFF during display of a through image.If you use a Camera with Lighting Controller, the time required for the READY or Trigger Ready signal to turn OFF may increase in comparison with not using a Camera with a Lighting Controller.For details, refer to Camera Image Input FH or Camera Image Input HDR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat No. Z341).

*3: The OR signal is output only when the [Output] option is selected in the Adjustment Window.

RUNMeasurement Mode Signal

The FH/FZ5 turns ON this signal when measurements can be performed and it is in Run Mode.Run Mode

ACK Command Completion FlagThis signal tells when execution of the DI command has been completed.

SHTOUT Exposure Completion SignalThis signal tells when Camera exposure has been completed.

STGOUT Strobe Trigger Output This is the trigger signal for the strobe.



1

Overview

Command/Response Method

ParallelCommands are input to the Sensor Controller by turning the DI signals (DI0 through DI7) ON and OFF. There is no direct response to these commands. Confirm whether a command was received by checking the ACK signal. With an FZ5-series Controller, you can check the BUSY status signal instead of the ACK signal.The command code is input with signals DI0 through DI6, and the command is executed by turning ON DI7.

PLC Link, EtherNet/IP, or EtherCATCommand/response control signals can be exchanged by storing control commands from the PLC to the Sensor Controller and responses from the Sensor Controller to the PLC in the I/O memory of the PLC. This enables you to send single measurement and scene switch requests to the Sensor Controller without any sequence control with communications commands from the PLC.

Memory Areas Used by the Command/Response Control Method

Flow of Communications between the PLC and the Sensor Controller(1) The PLC (the user) writes a control command to a specified PLC I/O memory area (the Command

Area).

(2) The PLC (the user) then turns ON the EXE bit to send the control command to the Sensor Controller.

(3) The Sensor Controller executes the received control command.

(4) The Sensor Controller returns a response to the PLC after the control command is executed.

(5) The PLC (the user) stores the response in a specified PLC I/O memory area (the Response Area).

The available control commands depend on the communications protocol that is used.Refer to the Command List (p.331).

Non-procedure CommunicationsCommunications commands are sent to the Sensor Controller through sequence control in the PLC. An external device and the Sensor Controller communicate through non-procedure (normal) communications.

Command Area You write the control commands to execute for the Sensor Controller to this area.

Response Area You read the results of executing the control commands that were written to the Command Area from this area.

Command-driven character string output is not supported when using EtherNet/IP tag data link communication or EtherCAT. To output character strings, send commands using EtherNet/IP message communication.

DI7 DI6 DI4 DI3 DI2 DI1 DI0

Execution Command Command information

DI5

(1) Command Area(5) Response Area

(2) Command

(4) Response

PLC CPU Unit

I/O memory (communications areas)

• Switch Scene Number• Single Measurement, etc.

OK, etc. (3) Command is processed.

Sensor Controller

Note



22

Data Output after MeasurementsAfter a Single Measurement or Start Continuous Measurements command is executed, the Sensor Controller automatically outputs the data that corresponds to the measurements that have been specified as output items to the PLC. This allows you to easily pass measurement results data from the processing items to the PLC. You can also choose to output only when the PLC meets the conditions that are required to receive the data (i.e., when handshaking is turned ON).The output destination for data depends on the protocol that is used to communicate between the external device and the Sensor Controller, as described below.

PLC Link, EtherNet/IP, or EtherCATThe output data is automatically output to the following area that is specified PLC I/O memory.

Area of Memory Used for Data Output after Measurement

Flow of Communications between the PLC and the Sensor ControllerThe data to output after measurement and the PLC I/O memory area (Data Output Area) to store that data are specified in advance. (Reference: Settings Required for Data Output (p.24).)(1) Measurement is executed.

(2) After a measurement is executed, the specified measurement data is stored in the Data Output Area in the PLC.

ParallelThe output data is output to the PLC signal wires via the DO signals (DO0 to DO15).

Non-procedure CommunicationsThe output data is output to the PLC reception buffer through non-procedure (normal) communications.

Data Output Area The output data for the measurement is written to this area by the Sensor Controller after execution of the measurement.

Data Output Area

• Specified data is automatically output.• Output characters

(2) Data

CPU UnitPLC

I/O memory (communications areas)

Sensor ControllerMeasurement execution

(1)


1

Overview

Outputting the Output Data

The measurement data is output to the external device via the Communications Module by the Data Output processing unit located in the measurement flow.Therefore, to output measurement data, you must place an Output Unit processing unit in the measurement flow.The measurement data is output when the Output Unit is executed, not when the measurement is actually finished.

You can output character strings that were read by processing items that read characters, such as Character Inspection, Barcode, or 2DCode. (You must use PLC Link communications to do this.)Character strings are output simultaneously when the processing item is executed.

Search measurement results output.

Processing order

Measurement started. 0.Camera Image Input

1.Search

2.Data OutputCommunications

Module

Measurement flow

Sensor Controller

Measurement executed.

Processing started (BUSY).

Single Measurement command

The results for measurements for 1. Search are output.

Processing order

Measurement started. 0.Camera Image Input

1.Character Inspection Communications

Module

Measurement flow

Sensor Controller

Measurement processed.

Processing started (BUSY).

Single Measurement command

Characters are output at the same time that the characters are read.

Read charac-ters are output.



24

Items that Can Be Output as Output Data

Measurement DataYou can output up to eight items (32 bytes) with one Output Unit processing unit.

The following items can be output:• Judgement result• Measured parameters (correlation values, reference coordinates, etc.)• Results calculated based on the values of the measured parameters• Judgement results from expression results (Parallel Judgement Output)

Character Output (PLC Link Communications or Non-procedure Communications Only)You can output the characters that were read by processing items such as Character Inspection.

• Character output is supported only for PLC Link communications or non-procedure communications.• A maximum of 32 characters can be output.• Read character strings are output separated by delimiters or non-procedure communications.

The processing items that support character output are listed below.Refer to the descriptions for each processing item for details on the character output format.

• Character Inspection (Refer to Character Inspection in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• Barcode (Refer to Barcode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• 2DCode (Refer to 2DCode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• OCR (Refer to OCR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

Settings Required for Data Output

Use the following procedure to set up Output Unit processing units for data output.

Measurement Data

1 Place the output data in the processing flow.Place the processing unit for data output in the measurement flow.

Processing Units That Serve as Output UnitsThe processing items under [Output result] in the processing item tree in the Flow Editor serve as Output Units.

• If you need to output nine or more data items, set more than one Output Unit processing unit in the measurement flow.Refer to Outputting Multiple Measurement Data Items (p.25).

• The number of data items that can be output by one Output Unit processing unit can be increased by changing a setting when using PLC Link or EtherCAT communications, as described below.• PLC Link: 256 max. (1,024 bytes max.)• EtherCAT: 64 max. (256 bytes max.)

Note


1

Overview

Output Unit SelectionSelect the Output Units according to the communications protocol based on the combinations that are shown in the following table.For information on communications protocols, refer to Communication Protocols for Communication with the Sensor Controller (p.15).

2 Set the items to output.Set the items to output as output data in the Output Units that you have placed in the measurement flow.Refer to the descriptions for the communications protocol for the specific procedures to set the output items in the Output Units.

Character Output (PLC Link Non-procedure Communications Only)Set the character output settings for processing items that read output characters, such as Character Inspection.The character output operation is executed by the above processing items. In this case, it is not necessary to set an Output Unit in the measurement flow.Refer to the descriptions for individual processing items for details on the settings required for character output.

• Character Inspection (Refer to Character Inspection in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• Barcode (Refer to Barcode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• 2DCode (Refer to 2DCode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

• OCR (Refer to OCR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

Outputting Multiple Measurement Data Items

Using Multiple Output Units for Data OutputYou can register more than one Output Unit in the measurement flow.If you want to output different types of data during measurement flow processing, or if you want to output more than nine different data items, you must register multiple Output Units in the measurement flow.

Data output is executed for each Output Unit set in the measurement flow, but the output destination for that

OK: Data can be output, ---: Data cannot be output.

Output unitCommunications protocol

Parallel PLC Link EtherNet/IP EtherCAT Non-procedure

Parallel Data Output OK --- --- --- ---

Parallel Judgement Output OK --- --- --- ---

Data Output --- OK --- --- OK

Fieldbus Data Output --- --- OK OK ---



26

data is the same PLC I/O memory area (the Data Output Area).In this case, the output data that is output first will be overwritten by any output data written afterwards. Use one of the following methods if you want to save all the output data.

Offsets (PLC Link Communications Only)When you use multiple Output Units to output data, you can offset the write destination of the output data for each Output Unit.Set the [Offset] for the Data Output processing item. Refer to Output Data Settings (Processing Item Registration) (p.217).

Controlling Data Output with HandshakingIf handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals.Each time that data is output, read the output data and move it to a different part of I/O memory in the PLC.Refer to Data Output Control with Handshaking (p.27).

The following two types of output units can be used via parallel communications:

For ASCII data output through non-procedure communications, you can append a record separator after each output data item. (The default is the delimiter.)

Output unit Output data

Parallel Data Output The measurement data is output. A maximum of eight items can be output.

Processing order

Measurement started.

Search measurement results output.

0.Camera Image Input

1.Search

4.Data Output


Measurement flow

Sensor Controller PLC

Command Area

I/O memory

Response Area

Output Area

2.Data Output

3.Position Compensation

The data that is output first is overwritten by the second data output

Position compensa-tion values output.

Note


1

Overview
Parallel Data Output Units and Parallel Judgment Output Units are output in the order they are processed
in the measurement flow.

Outputting Multiple Items with Parallel Data OutputThe items that are set for output data numbers 0 through 7 via parallel data output are output to the PLC reception buffer in ascending order, one data item at a time (16-bit units). Each time a data item is output, the GATE signal turns ON.*1When this occurs, the first data item that was output to the PLC reception buffer (data 0) is overwritten by the next output data item (data 1).Therefore, the data output to the PLC reception buffer must be saved to PLC memory each time the GATE signal turns ON for each data item.

*1: The operation of the DSA signal depends on whether handshaking for output control is enabled. Reference: Data Output Control with Handshaking (p.27).

Data Output Control with Handshaking

The timing for data output can be controlled through the DSA and GATE signals.This is useful when receiving output data from multiple Output Units, because it enables you to control the timing for transferring output data.

Requirements for Using Data Output Control with HandshakingTo use data output control, set the output control method to [Handshaking] in the communications protocol settings. For details, refer to Communications Specifications Settings for each communications protocol.

Parallel Communications: Refer to Communications Specifications Settings (p.283).PLC Link Communications: Refer to Communications Specifications Settings (p.156).EtherNet/IP and EtherCAT Communications: Refer to Communications Specifications Settings (p.58 or p.210).

HandshakingIf the external device does not turn ON the DSA signal, the measurement data will not be output to the external device from the Sensor Controller.While the DSA signal is ON, the GATE signal turns ON when the measurement data is output from the

Parallel Judgement Output

The judgement results are output. A maximum of 16 judgement result items can be output. The following two types of judgement results can be output:• Judgement results for specified processing items• Judgement results of set judgement conditions for the specified item

values

Output unit Output data

16 bitsParallel data output

PLC

0. Measurement data 0


Reception buffer

Data output order

Measurement data 7

Measurement data 0

GATE signal

D0 to D15 signals

ON

OFF



28

Sensor Controller.The external device receives the measurement data when the GATE signal turns ON.

Signals Used for Handshaking

*1: If handshaking is not enabled for output control, the GATE signal will also be turned ON when data is output from the Sensor Controller. However, if handshaking is disabled for output control during PLC Link communications, the GATE signal is not even output.

(1) The PLC turns ON the DSA signal and waits for the output data.

(2) The Sensor Controller turns ON the GATE signal when the DSA signal is ON and it is ready to output the measurement results(*1).

(3) The Sensor Controller turns ON the GATE signal and outputs the output data.

*1: This is when an Output Unit in the measurement flow is executed.

DSA Signal ON TimingTurn ON the DSA signal when you want to receive data.The Sensor Controller will output data when an Output Unit has been executed, there is data waiting to be output, and it detects that the DSA signal is ON.

To output measurement results immediately, execute the measurement trigger and turn ON the DSA signal.The Sensor Controller does not monitor when the DSA signal changes from OFF to ON. It only checks for the ON state.Therefore, the measurement results will be output from the Sensor Controller to the external device immediately after an Output Unit is executed and the output data must be received by the PLC at this time.

Signal Name Description

DSAData Output Request Signal

This signal is sent from the external device (PLC) to the Sensor Controller to request data output.


This signal is sent by the Sensor Controller to the external device (PLC) to tell the PLC when to receive the output data. This signal is sent only while the DSA signal is ON.*1

External device

(1) DSA signal

(3) Measurement results output(2) GATE signal

Sensor Controller

Start measurement. OFF

ON

Processing items related to results output

Processing item

DSA (data output request) signal statusMeasurement flow

No data output.

Data output started.


1

Overview

Receiving Multiple Continuous Output Data ItemsWhen receiving multiple output data items from multiple Output Units, use the DSA and GATE signals to receive the items one at a time.

Example: PLC Link Communications with Handshaking

1 When the first data is received, the user (PLC) turns ON the measurement trigger and the DSA signal.

2 The Sensor Controller turns ON the GATE signal when the DSA signal is turned ON and outputs the first data.

3 The user (PLC) turns OFF the DSA signal again when the GATE signal turns ON. Then, the user (PLC) confirms the output data received in the PLC Data Output Area and moves the received data to another area in PLC I/O memory.

4 The Sensor Controller confirms that the DSA signal is OFF and automatically turns OFF the GATE signal.

5 The user (PLC) then turns ON the DSA signal again after the output data is received and the GATE signal is turned OFF, and waits for the second data.

6 When the second data is output, the second data output is received when the GATE signal is turned ON and steps 3 and 5 above are repeated.

Steps 3 through 5 above are repeated for all subsequent data output items.

DSA (data output request) signal statusMeasurement flow

Data output started.

Start measurement.

Processing items related to results output

Processing completed.

OFF

ON

Output Unit 2 executed.Output Unit 1 executed.

Wait for the first output data.

Measurement trigger (e.g., STEP signal)

Data Output Request (DSA) signal

Result Completion (GATE) signal

Output data (DATA 0 to 7)

Wait for the second output data.

ON

OFF

ON

OFF

ON

OFF

(2) (3) (4)(5) (6)(1)

First output data Second output data



30

Setting Procedures for Communications
This section gives an overview of the setting procedure up to the point that the Sensor Controller starts communication with the PLC or other external device, and explains the communication modules used for communication.
Communications Setup ProceduresTo communicate with an external device, the settings below are configured.

1. Setting the Communications Module. (Startup settings)

· · · The communication method to be used is determined by selecting a communication module. For details, refer to Communications Module Settings (Startup Settings) (p.57) for each communication protocol in Methods for Connecting and Communicating with External Devices.

↓

2. Setting communications specifications. · · · The communications specifications are set for the communications method of the Communications Module that was selected in step 1.Set the communications area assignments for exchanging data with the external device. For details, refer to Communications Specifications Settings under Methods for Connecting and Communicating with External Devices for each communications protocol.*1: The settings (including communications settings) can be saved and loaded

as system data (.ini file extension) or system + scene group 0 data (.bkd file extension) files.Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

↓

3. Setting output data.*1: When performing control through data

sharing (data output after measurement).

· · · The data to output to the Data Output Area is registered in the Output Unit.The result output is placed in the processing flow in the same way as for other processing items.

↓

4. Testing communications. · · · If communications are not working properly, check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network.If that does not solve the problem, refer to the troubleshooting section.

Setting Procedures for Communications Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

1

Overview

Communications Protocols and Communications ModulesA Communications Module is used to communicate between the Sensor Controller and an external device.The appropriate Communications Module must be set for the communications protocol that is used to communicate between the Sensor Controller and the external device.

Communications Module SettingsThe Communications Module to use for communications is selected in the startup settings.

1 On the Main Window, select [Tool] − [System Settings] to open the system settings.

2 Select [System setting] − [Startup] − [Startup setting] on the Multiview Explorer on the left and then click the [Communication] tab.

For detailed setting procedures, refer to Communications Module Settings for each communications protocol.

Selecting a Communications ModuleSelect a Communications Module based on the communications protocol to use to communicate between the Sensor Controller and external device and the connected communications interface, as shown in the following table.

After you select the Communications Module to use, save the settings to the Sensor Controller and restart the Sensor Controller.The selected Communications Module will be enabled after the Sensor Controller restarts. You can then set up the communications.

Communications protocol

Communications interface Communications Module

Parallel Parallel Standard Parallel I/O

PLC Link

Ethernet

Serial (Ethernet)

PLC Link (SYSMAC CS/CJ/CP/One)PLC Link (MELSEC QnU/Q/QnAS)PLC Link (JEPMC MP)

RS-232C/422Serial (RS-232C/422)

PLC Link (SYSMAC CS/CJ/CP/One)PLC Link (MELSEC QnU/Q/QnAS)

EtherNet/IP EtherNet/IPFieldbus

EtherNet/IP

EtherCAT EtherCAT EtherCAT

Non-procedure

Ethernet

Serial (Ethernet)

Normal (UDP)Normal (TCP)Normal (TCP Client)Normal (UDP) (Fxxx series method)

RS-232C/422Serial (RS-232C/422)

NormalNormal (Fxxx series method)

IMPORTANT

Setting Procedures for Communications31


32

Differences in Specifications Based on the Communications Protocol
This section explains the types and differences of communication protocols that are used for communication with the Sensor Controller.
List of Supported Signals by Communications ProtocolSome of the control signals and status signals that can be used depend on the communications protocol as shown below.The table below can be used to check which signals exist in each communication protocol by means of a vertical arrangement. Note that this table does not show whether signals of one communication protocol can be used simultaneously with signals of other communication protocols. For restrictions on communication protocols that can be used simultaneously, refer to Restrictions when Using Different Communication Protocols Simultaneously (p.34).

Input Signals (PLC to Sensor Controller)

The control signals and status signals cannot be used for control in non-procedure communications.

OK: Can be used, ---: Cannot be used.

Signal Signal nameSignals for each communications protocol

Parallel PLC Link EtherNet/IP EtherCAT

EXEControl Command Execution Signal

--- OK OK ---

Command Request --- --- --- OK

Trigger Measure Bit --- --- --- OK

STEP Measure Bit OK --- OK ---

DSA(Used only for handshaking output control.) Data Output Request Signal

OK OK OK ---

Result Set Request --- --- --- OK

ERCLRError Clear Bit

--- --- OK ---

Error Clear --- --- --- OK


--- OK OK ---

Flow Command Request --- --- --- OK

DI (DI0 to DI7) Command Input Signals OK --- --- ---

ENCTRIGEncoder Trigger Input (Phase A, Phase B, or Phase Z)

OK --- --- ---

IMPORTANT

Differences in Specifications Based on the Communications Protocol Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

1

Overview

Output Signals (Sensor Controller to PLC)

*1: The execution of commands or other processing received through any other protocol cannot be detected.The parallel BUSY signal can be used in all protocols.If you use more than one protocol and need to detect command execution, use the parallel communications BUSY signal.

*2: Data is not output when there is no handshaking for the PLC Link protocol.*3: The OR signal cannot be used with PLC Link communications.*4: The One-shot OR signal can be used only with parallel communications.

OK: Can be used, ---: Cannot be used.

Signal Signal nameSignals for each communications protocol

Parallel PLC Link EtherNet/IP EtherCAT

BUSY Busy Signal OK*1 OK*1 OK*1 OK*1

FLGControl Command Completion Signal

--- OK OK ---

Command Completion --- --- --- OK


OK OK*2 OK ---

Result Notification --- --- --- OK

READYCamera Image Input Enabled Signal

OK --- --- ---

Trigger Ready --- --- --- OK

OROverall Judgement Output Signal

OK ---*3 OK ---

Overall Judgment --- --- --- OK

One-shot OR *4 One-shot Overall Judgement Result Signal

OK --- --- ---

DO (DO0 to DO15) Data Output Signals OK --- --- ---


--- OK OK ---

Flow Command Completion --- --- --- OK

XBUSYMeasurement Command Busy Bit

--- OK OK ---

Flow Command Busy --- --- --- OK

XWAITMeasurement Command Wait Bit

--- OK OK ---

Flow Command Wait --- --- --- OK

Trigger ACK Trigger Signal Acknowledged Bit --- --- --- OK

Command Ready Command Execution Ready Bit --- --- --- OK

ERRError Signal

OK --- OK ---

Error Status --- --- --- OK


OK --- OK ---

Run Mode --- --- --- OK

ACK Command Completion Flag OK --- --- ---

SHTOUT Exposure Completion Signal OK --- --- OK

STGOUT Strobe Trigger Output OK --- --- ---

Differences in Specifications Based on the Communications Protocol33


34

Restrictions when Using Different Communication Protocols SimultaneouslyDifferent communication protocols can be used together on the FH/FZ5. Restrictions when using different protocols together are as follows:• The Parallel Communications Module can be used with any other Communications Modules.• For all Communication Modules other than the Parallel Communications Module, the following restrictions on

combinations apply.Ethernet and RS-232C/422 cannot be used at the same time as PLC Link for Vision Systems.EtherNet/IP or EtherCAT cannot be used at the same time as PLC Link for Vision Systems.All combinations of Communications Modules other than those listed above are compatible.

If control signals or commands are input simultaneously to the Sensor Controller from different Communications Modules, they may not be received correctly. Check the status signals for each Communications Module and input control signals and commands at different times for each.

IMPORTANT


1

Overview

Models That Are Compatible with the Communications ProtocolsThis section lists the external devices that can communicate with the FH/FZ5 for each communications protocol.

PLC Link and Non-procedure Communications

• EthernetOMRON

Mitsubishi Electric

❍: Can connect : Only some models can connect ✕: Cannot connect

Series CPU UnitInterface

Direct connection with CPU unit (built-in port) Connection via Ethernet unit

SYSMAC_CJ2 CJ2H or CJ2M (Built-in port only.) CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

SYSMAC_CJ1CJ1H or CJ1G ✕ CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

CJ1M (Built-in port only.) CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

SYSMAC_CSCS1H, CS1D, or CS1G

✕ CS1W-EIP21 (PLC Link only) or CS1W-ETN21

SYSMAC_CP1CP1L (Built-in port only.) ---

CP1H ✕ CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

SYSMAC_One NSJ ✕ NSJW-ETN21


Series Model name CPU Unit CPU name

Interface

Direct connection

with CPU unit (built-in port)

Connection via Ethernet unit

MELSEC-QnUUniversal models

QnUDECPU

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, or Q26UDEHCPU

❍

QJ71E71-100QJ71E71-B2QJ71E71-B5

QnUDCPU

Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU

✕

QnUCPUQ00UJCPU, Q00UCPU, Q01UCPU, or Q02UCPU,

✕

Basic models QnCPU Q00JCPU, Q00CPU, or Q01CPU ✕

MELSEC-Q Series

High-performance models

QCPUQ02CPU, Q02HCPU, Q06HCPU, Q12HCPU, or Q25HCPU

✕

MELSEC-QnAS Series

--- ---Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, or Q2ASHCPU-S1

✕



36

• RS-232C/422OMRON

Mitsubishi Electric



Direct connection with CPU unit (built-in port) Connection via serial communication unit

SYSMAC_CJ2CJ2H ❍ CJ1W-SCU21-V1, CJ1W-SCU31-V1, CJ1W-

SCU41- V1, CJ1W-SCU22, CJ1W-SCU32, or CJ1W-SCU42CJ2M (Built-in port only.)

SYSMAC_CJ1 CJ1H, CJ1G, or CJ1M ❍

CJ1W-SCU21-V1, CJ1W-SCU31-V1, CJ1W-SCU41-V1, CJ1W-SCU22, CJ1W-SCU32, or CJ1W-SCU42


❍CS1W-SCB@@-V1, CS1W-SCU21-V1, or CS1W-SCU31-V1

SYSMAC_CP1 CP1E, CP1L, or CP1H ✕ CP1W-CIF01

SYSMAC_One NSJ ❍ ---

SYSMAC_NJ NJ501 or NJ301 --- CJ1W-SCU22, CJ1W-SCU32, or CJ1W-SCU42


Series Model name CPU name CPU Unit

Interface

Direct connection

with CPU unit (built-in port)

Connection via serial

communication unit

MELSEC-QnUUniversal models

QnUDECPU

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, or Q26UDEHCPU

✕

QJ71C24N or QJ71C24N-R2

QnUDCPU

Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU

❍

QnUCPUQ00UJCPU, Q00UCPU, Q01UCPU, or Q02UCPU

❍

Basic models QnCPU Q00JCPU, Q00CPU, or Q01CPU ❍

MELSEC-Q Series

High-performance models

QCPUQ02CPU, Q02HCPU, Q06HCPU, Q12HCPU, or Q25HCPU

✕

MELSEC-QnAS Series

--- ---Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, or Q2ASHCPU-S1

✕

A1SJ71QC24N1 or A1SJ71QC24N1-R2


1

Overview

• EtherNet/IP

• EtherCAT



Direct connection with CPU unit (built-in port) Connection via EtherNet/IP unit

SYSMAC NJ NJ501 or NJ301 ❍

CJ1W-EIP21 (Only version 2.1 supports Sysmac NJ connection. This applies to NJ versions 1.01 and later.)

SYSMAC_CJ2 CJ2M or CJ2H (Built-in port only.) CJ1W-EIP21

SYSMAC_CJ1CJ1H or CJ1G ✕ CJ1W-EIP21

CJ1M (Built-in port only.) CJ1W-EIP21


✕ CS1W-EIP21



Direct connection with CPU unit (built-in port) Connection via master unit

SYSMAC NJNJ501NJ301

❍ ---



38

MEMO


2

Methods f

Methods for Connecting and Communicating with External DevicesThis section describes the communications specifications, data I/O methods, communications settings, communications commands, and other details for each communications protocol used to communicate between the FH/FZ5 and external devices.

or Connecting and C

omm

unicating with E

xternal Devices

EtherCAT Connections (FH Only) .................................... 40 Communicating with PLC Link....................................... 152 Communicating with EtherNet/IP................................... 202 Non-procedure Communications................................... 252 Parallel Communications................................................ 280

40

EtherCAT Connections (FH Only)
This section explains the communication settings required for communication by EtherCAT between the Sensor Controller and an external device, communication specifications, input/output formats, and the communication timing chart.
Introduction to EtherCATEtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system that enables faster and more efficient communications based on Ethernet.Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.Although EtherCAT is a unique communications protocol, standard Ethernet technology is used for the physical layer, which means you can use Ethernet cables for wider application.And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing speeds and system integrity, but also in small and medium control systems.

How EtherCAT Works

In EtherCAT communication, Ethernet frames pass through all of the slave nodes.When a frame passes through a slave node, the slave node reads and writes the data in the area that is allocated to it in the frame in a few nanoseconds.The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves without stopping. The last slave returns all of the frames, which again pass through all of the slaves before returning to the EtherCAT master.This mechanism ensures high speed and realtime data transmission.

EtherCAT master SlaveData

Slave Slave

Ethernet frames

INOUT

• The slave reads output data addressed to it.• The slave writes input data.

EtherCAT Connections (FH Only) Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

Methods for C

onnecting and Com

municating w

ith External D

evices

The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves use EtherCAT telegrams that are stored directly in the Ethernet frames.Each EtherCAT telegram consists of a telegram header (including the data length and one or more slave addresses), data, and a working counter (i.e., check bits).

Ethernetheader CRCEthernet data (1,498 bytes max.)

DataTelegramheader WKC

1st to nth EtherCAT telegramsEtherCATheader

1st EtherCATtelegram

2nd EtherCATtelegram

nth EtherCATtelegram

EtherCAT frame

Ethernet frame

WKC: Working counter

EtherCAT Connections (FH Only)41


42

Types of EtherCAT Communications

The following 2 types of communications are available with EtherCAT.PDO communications are executed in each EtherCAT communications cycle to refresh data continuously. SDO communications are executed between PDO communications.

Process Data Communications (PDO Communications)The process data communication function (PDO communication) cyclically transfers process data in real-time.The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communications between the EtherCAT master and slaves.

Mailbox Communications (SDO Communications)The mailbox communication function (SDO communication) is used to perform message communication.Whenever necessary, the EtherCAT master sends a command to a slave, and then the slave returns a response to the EtherCAT master.The mailbox communication function (SDO communication) has the following functions.

• Reading and writing process data

• Setting slaves

• Monitoring slave status

EtherCAT master Slave

Ethernet frame

Slave Slave Slave

Ethernetheader

EtherCAT

header1st EtherCAT

telegram2nd EtherCAT

telegram3rd EtherCAT

telegramCRC

Logical process data

Data a

Data b

Data c


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Structure of CAN Application Protocol over EtherCAT (CoE)EtherCAT allows the use of multiple protocols for communication. The EtherCAT slave terminal uses "CAN application protocol over EtherCAT" (CoE) as the device profile for "CAN application protocol", which is an open network standard. CoE is a communication interface that is designed to provide compatibility with EtherCAT devices.The following figure shows how the CoE is structured for an FH-series Vision Sensor.

The object dictionary for the CAN application protocol is broadly divided into PDOs (process data objects) and SDOs (service data objects).

PDOs are contained in the object dictionary. The PDOs can be mapped in the object dictionary. The process data is defined by the PDO mappings. PDOs are used in PDO communications for periodic exchange of process data.

SDOs are the objects that can be read and written. SDOs are used in non-periodic SDO communications (event-driven message communications).

If you use the CoE interface to set the object dictionary for PDOs and SDOs, you can provide EtherCAT devices with the same device profiles as the CAN application protocol.

FH Sensor Controller

EtherCAT physical layer

Transitions ofcommunications

states

SDO (mailbox)

NX Unit application

Object dictionary

PDO mappings

PDO communications (cyclic)

EtherCAT data link layer

Registers Mailbox Process data

FMMUSyncManager

Application layer



44

EtherCAT Slave Information Files (ESI Files)The setting information for an EtherCAT slave is provided in an ESI file (EtherCAT slave information).The EtherCAT communications settings are defined based on the ESI files of the connected slaves and the network connection information.

You can create the network configuration information by installing ESI files into the network setup software (configuration tool).*1

You can download the network configuration information to the EtherCAT master to configure the EtherCAT network.

ESI files for the FH can be downloaded from the OMRON website.

*1: If you are using Sysmac Studio, it is not necessary to install the ESI files in the network setup software (configuration tool). The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio. You can update the Sysmac Studio to get the ESI files for the most recent models.

ESI files

Networkconfigurationinformation

EtherCAT masterConfiguration Tool

EtherCAT SlaveTerminal

EtherCATslave

Communications are started according to the communications settings and the network configuration based on the ESI files that are installed.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Transitions of Communications StatesThe state transition model for communications control of the EtherCAT Slave Terminals is controlled by the EtherCAT master.

The following figure shows the communications state transitions from when the power supply is turned ON.

The table below shows whether or not data objects can be sent and received in each communication state.

StatusSDO

communications

SendingPDOs

ReceivingPDOs Description

InitNot possi-ble

Not possi-ble.

Not possi-ble.

Communications are being initialized. Communications are not possible.

Pre-Operational Possible.Not possi-ble.

Not possi-ble.

Only SDO communications (message communications) are possible in this state.This state is entered after initialization is completed. It is used to initialize network settings.

Safe-Operational Possible. Possible.Not possi-ble.

In this state, both SDO communications (message commu-nications) and sending PDOs are possible.Information, such as status, is sent from the Slave Terminal.

Operational Possible. Possible. Possible.This is the normal state for communications.PDO communications are used to control the I/O data.

Init

Pre-Operational

Safe-Operational

Operational

Power supply ON



46

Process Data Objects (PDOs)This section describes the process data objects (PDO) that are used in EtherCAT communication.

Introduction

Process data objects (PDOs) are used to transfer data during cyclic communications in realtime.

There are two types of process data objects (PDOs): the RxPDOs, which are used by the EtherCAT Slave Terminal to receive data from the EtherCAT master; and the TxPDOs, which are used by the EtherCAT Slave Terminal to send data to the EtherCAT master.

The EtherCAT application layer can hold more than one object to enable the transfer of various process data of the EtherCAT Slave Terminal.The contents of the process data is defined in the PDO mapping objects.EtherCAT Slave Terminals support PDO mapping for I/O control.

TxPDO

EtherCAT masterEtherCATSlaveTerminal

RxPDO

Status of EtherCAT Slave Terminals and input data from NX Units (Input Units)

Example: Built-in EtherCAT port on NJ-series CPU Unit

Output data and motioncommands to NX Units(Output Units)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

PDO Mappings

PDO mapping objects contain the I/O data for the EtherCAT Slave Terminals. PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex, and for the TxPDOs from indexes 1A00 to 1BFF hex.

PDO Mapping Scheme in EtherCATThe PDO mapping scheme in EtherCAT is described below.Three application objects (objects A, B, and D) are allocated to the PDO (name: PDO_1) at index 1ZZZ hex.As described here, PDO mapping shows how application objects are assigned to PDOs.Indexes and subindexes are also assigned to application objects.

PDO Mapping with EtherCAT Slave TerminalsAn EtherCAT Slave Terminal has PDOs for the FH-series Vision Sensor and each NX Unit.Application objects are assigned by default to the PDOs for each Unit.

The following diagram shows a specific example for one of the PDOs in an FH-series Vision Sensor.

In the previous example, a single application object is assigned to the PDO at index 1BFF hex (name: 512th transmit PDO mapping). This PDO is a TxPDO. The application object contains the Sysmac error status at index 2001 hex and subindex 01 hex.

816

8

Object BObject C

Object A

PDO_1

Object E

Object D

Object A Object B Object D

Index

02 hex03 hex

01 hex

SubIndex

UU hexVV hex

TT hex

ZZ hex

YY hex

Object Contents

Map

ping

objec

t

Object Dictionary

Appli

catio

n ob

ject

1ZZZ hex

6TTT hex

6UUU hex6VVVHex

6YYY hex

6ZZZHex

6UUU hex UU hex

6TTT hex TT hex

6YYY hex YY hex

PDO-Length : 32 Bit

2001 hex

01 hex

01 hex

2001 hex 01 hex *1

Index SubIndex Object Contents

8

Sysmac error status

Object Dictionary

1BFF hex

*1. This is expressed as 0x2001:01 on the Sysmac Studio.

Sysmac error status512th transmit PDO mapping

PDO-Length : 8 Bit

Map

ping

objec

tAp

plica

tion

objec

t



48

Assigning PDOs

Scheme for Assigning PDOs to EtherCAT SlavesYou can assign more than one PDO to an EtherCAT slave.Here, PDOs are assigned to index 1C12 hex for the RxPDO, and 1C13 hex for the TxPDO.The following example shows how PDOs are assigned.

In this example, three PDOs (PDO A, PDO B, and PDO D) are assigned to index 1C13 hex (for the TxPDOs).

Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex.These assignments determine the PDOs to use for communications between the EtherCAT master and slave.

23

1

PDO BPDO C

PDO A

PDO E

PDO D

PDO A PDO B PDO D

Index SubIndex Object Contents

Sync

Man

ager

PDO

assig

nmen

t obje

ctsM

appin

g ob

jects

PDO GPDO F

Sync Manager entity Z

1C13 hex

1A00 hex

1A01 hex1A02 hex

1A03 hex

1A04 hex

1A05 hex

1A06 hex

1A00 hex

1A01 hex1A03 hex


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Service Data Objects (SDOs)This section describes the service data objects (SDO) that are used in EtherCAT communication.

Introduction

EtherCAT Slave Terminals support SDO communications.The EtherCAT master can read and write data from and to entries in the object dictionary with SDO communications to make parameter settings and monitor status.Refer to Object Dictionary Area (p.105) for the objects that you can use with SDO communications.

Abort Codes

The following table lists the abort codes for SDO communications errors.

Abort code value Meaning

05030000 hex Toggle bit not changed.

05040000 hex SDO protocol timeout.

05040001 hex Client/server command specifier not valid or unknown.

05040005 hex Out of memory.

06010000 hex Unsupported access to an object.

06010001 hex Attempt to read a write-only object.

06010002 hex Attempt to write to a read-only object.

06020000 hex The object does not exist in the object directory.

06040041 hex The object cannot be mapped to the PDO.

06040042 hex Number/length of mapped objects exceeds PDO length.

06040043 hex General parameter incompatibility.

06040047 hex General internal incompatibility in the device.

06060000 hex Access failed due to a hardware error.

06070010 hex Data type does not match, length of service parameter does not match.

06070012 hex Data type does not match, service parameter is too long.

06070013 hex Data type does not match, service parameter is too short.

06090011 hex Missing subindex.

06090030 hex Value of parameter exceeded range (only for write access).

06090031 hex Value of parameter that was written is too high.

06090032 hex Value of parameter that was written is too low.

06090036 hex Maximum value is less than minimum value.

08000000 hex General error.

08000020 hex Data cannot be transferred or stored to the application.

08000021 hex Data cannot be transferred or stored to the application because of local control.

08000022 hex Data cannot be transferred or stored to the application because of the present device state.

08000023 hex Failed to dynamically create the object dictionary, or no object dictionary exists.



50

Communications between an EtherCAT Master and SlavesThis section describes the communications modes between the master and slaves for EtherCAT communications, and the communications modes for EtherCAT Slave Terminals.

Communications Modes for Communications between an EtherCAT Master and Slaves

Free-Run Mode (Not supported on the FH)In free run mode, the slave processes the I/O (refreshes the I/O data) asynchronously with respect to the communications cycle of the master.

DC ModeIn DC mode, the slave processes the I/O (i.e., refreshes the I/O data) in synchronization with the communications cycle of the master. A distributed clock (DC) system whereby the master and slave share the same clock is used to synchronize EtherCAT communications. Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock. Each slave executes I/O processing at this precise timing.

Communications Modes for EtherCAT Slave Terminals

The FH-series Vision Sensors support DC Mode. They do not support Free-Run Mode.

Communications Cycle

The communications cycle is determined by the setting for it in the EtherCAT master.

Refer to the NJ-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the communications cycles that are supported by the built-in EtherCAT ports on NJ-series CPU Units.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

FH-series Vision Sensor Communications Method When Connected to EtherCATYou can use EtherCAT communications between an EtherCAT master and Vision Sensors to control the Vision Sensors from the master with commands and responses and to output the data that results from measurements.To connect an FH-series Vision Sensor to an NJ series CPU unit by EtherCAT, use Sysmac Studio (Standard Edition) Version 1.09 or later.The Sysmac Studio is used to register the Vision Sensors in the EtherCAT slave configuration on the [Edit Network Configuration] tab page.Refer to Section 5 Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the registration procedure.

For EtherCAT communications, the I/O ports in the following four areas in the Controller are used for communications. The I/O ports in the Sysmac Error Status Area are used only when an NJ-series CPU Unit is connected as the master.

When Sysmac Studio is used in a high load environment, such as input of measurement triggers at short intervals while connected online to an FH, there may be deviations in the measurement processing time.

Up to eight FH-series Vision Sensors can be connected to an NJ-series Controller by EtherCAT.

Command/response method

(1) I/O ports in the Command Area

You write the control commands to execute for the Vision Sensor to these I/O ports.

(2) I/O ports in the Response Area

The Vision Sensor writes the results of executing the control commands that were written to the Command Area to these I/O ports.


(3) I/O ports in the Data Output Area

The Vision Sensor writes the measurement parameters, judgement results, and other measurement results to these I/O ports after measurements are executed.

Error status(4) I/O ports for Sysmac Error Status Area

The Vision Sensor writes the error status to these I/O ports.These I/O ports function only if the Sysmac Studio and Vision Tool are used together.

IMPORTANT

Note



52

*1: You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer until the Controller (master) turns ON the Result Set Request signal to request the output data.

*2: Refer to Settings Required for Data Output (p.24) for information on the Output Units that output measurement data.

I/O ports in the Command Area

You write the following control commands for the Vision Sensor.

• Control signals• Command codes• Command parameters

I/O ports in the Response Area

The Vision Sensor writes the execution results.

Controller (master)

I/O ports in the Data Output Area

The Vision Sensor writes the output data.

I/O ports for Sysmac Error Status Area

The Vision Sensor writes the error status.



Error status

The Vision Sensor executes the control commands written to the I/O ports in the Command Area. 28 bytes

Vision Sensor (slave)

Commands

Responses

External outputs*1

The Vision Sensor writes the values measured by processing item A.

The Vision Sensor writes the execution results to the I/O ports in the Response Area in the Controller.• Status signals• Command codes• Response codes• Response data

Execution

The Vision Sensor writes the error status to the I/O ports in the Sysmac Error Status Area.

• Sysmac error status

1 byte

24 bytes

Operation is performed by executing the measurement flow (32 to 256 bytes).


Data is written to the Communications Module.

• Measurement Flow

Execution of processing item for the Output Unit.*2

Execution of processing item A


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications in Multi-line Random-trigger Mode

When the operation mode is multi-line random trigger mode, an FH-series Vision Sensor can be used to control up to eight lines.When multi-line random trigger mode is used, the I/O ports (areas) for communication between the Vision Sensor and master are assigned as shown below.

A Module (line) is assigned to each EtherCAT communications slot with the Sysmac Studio Standard Edition to allocate independent PDO communications areas for each line.


I/O ports in the Command Area

I/O ports in the Response Area


I/O ports in the Data Output Area

Error status I/O ports for Sysmac Error Status Area

Assigned for each line.

The same for all lines.....

Line 0

Line 1

Line 6

Line 7

NJ-series Controller

You can specify the output data size for each line.

FH

Line 0 PDO communications

Line 1PDO communications





54

Allowable Output Data SizesThe upper limit of the data output size depends on the number of controlled lines, as shown in the following table.

Minimum PDO Communications Cycle TimeDo not set the communication cycle (PDO communication cycle time) for EtherCAT communication to a value lower than the applicable minimum time given in the following table.The minimum communication cycle (PDO communication cycle time) depends on the number of controlled lines and the number of data output bytes as shown below. When multi-line random trigger mode is used, the minimum communication cycle is the minimum value of the maximum byte size for each line.

EtherCAT communications will not be performed if you set the PDO communications cycle time for EtherCAT communications to a value that is lower than the applicable minimum time given in the following table.

Applicable Models

• OMRON

• BeckhoffTwinCAT PC Edition, Industrial PCs, and Embedded PCs*1: You must obtain an ESI file for the FH-series Vision Sensor from OMRON to use a Beckoff master.

Number of controlled lines Output data size

1 to 5 256 bytes max.

6 to 8 128 bytes max.

Number of controlled lines

Data output byte size

32 bytes 64 bytes 128 bytes 256 bytes

1 line 125 μs 250 μs

2 lines 250 μs

3 lines 250 μs 500 μs

4 lines 500 μs

5 lines 500 μs 1,000 μs

6 lines 500 μs 1,000 μs Not supported.

7 lines 500 μs 1,000 μs Not supported.

8 lines 1,000 μs Not supported.


Series CPUInterface

Direct connection with CPU unit (built-in port) Connection via master unit

SYSMAC NJNJ501NJ301

❍ ✕


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications SettingsThe following settings are required to use EtherCAT communications.

1. Communications Module settings (startup settings)

... The communication method to be used is determined by selecting a commu-nication module. Refer to Communications Module Settings (Startup Set-tings) (p.57).

↓

2. Communications specifications set-tings

...The communications specifications are set for the communications method of the Communications Module that was selected in step 1.The data size that is output to the Data Output Area is also set. Refer to Communications Specifications Settings (p.58).

↓

3. Output data settings (processing item registration)

...The data to output to the Data Output Area is registered in the Output Unit.The output is placed in the measurement flow in the same way as for other processing items. Refer to Output Data Settings (Processing Item Regis-tration) (p.61).

↓

4. EtherCAT network configuration set-tings

...The FH-series Vision Sensors are registered in the EtherCAT slave configu-ration on the Sysmac Studio.If you use Multi-line Random-trigger Mode for multiple lines, set the Commu-nications Module for each line. Refer to EtherCAT Network Configuration Settings (p.63).

↓

5. Communications confirmation

... If communications are performed normally, the ECAT RUN indicator on the Vision Sensor will light green.If communications are not performed normally, check the communications specifications settings that were made in step 2.Also, error events are registered in the troubleshooting function of the Sys-mac Studio if normal communications are not possible. Use them to trouble-shoot the problem. Refer to Communications Test (p.65).



56

Communications are set up as shown below when you use the multi-line random-trigger mode.

Note

Communications Module setting

Communications specifications settings

Output data designation





....

....

Settings on the window for line 0



The output data is designated according to the output data size that was set on the window for line 0.

The output data is designated according to the output data size that was set on the window for line 0.

Set [Fieldbus] to [EtherCAT].



• The communications settings (e.g., communications cycle):

Are the same for all lines.• Number of output data bytes

(output size): Set for each line.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Module Settings (Startup Settings)The communication method used for communication with the Sensor Controller is selected from the communication modules.

1 On the Main Window, select [Tool] − [System Settings].

2 Select [System setting] − [Startup] − [Startup setting] on the Multiview Explorer on the left and then click the [Communication] button.

3 In the Communications Module Selection Area, select [EtherCAT] in the [Fieldbus] box and then click the [Apply] button.

4 Click the [Data save] button in the Toolbar.

5 On the Main Window, select [Function] − [System restart].Click the [Apply] button in the [System Restart] dialog box to restart the Sensor Controller.

6 When the Sensor Controller has been restarted, operation will be performed for the default settings of the specified Communications Module.Set the communications settings according to the PLC or other external device.

If you will use the multi-line random-trigger mode for EtherCAT communications for multiple lines, use the following procedure to set the Communications Module.(1) In the Communications Module settings for line 0, set the Fieldbus Box to EtherCAT, save the setting to the Vision Sensor,

and then restart the system.

(2) After the system has been restarted, set the Fieldbus Box to EtherCAT in the Communications Module settings for line 1, save the setting to the Vision Sensor, and then restart the system. Repeat this step for the rest of the lines.

You can save the Communications Module settings to a file.Use the System data or System + Scene group 0 data option for saving settings to a file.Refer to: Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH/FZ5 SeriesUser’s Manual (Cat. No. Z340).

IMPORTANT

Note



58

Communications Specifications SettingsYou must set the data output size, output handshaking, and output controls for EtherCAT communications.

1 On the Main Window, select [Tool]− [System Settings].

2 Select [System Settings] and then select [Communications] − [EtherCAT].The tab page for the communications settings is displayed.

3 Set up the following items.

• Use the same communications specifications settings for the Sensor Controller and the external device.• Do not input signals to EtherCAT from an external device while setting the EtherCAT system settings.• Before you set the communications specifications, set the Communications Module to EtherCAT.

Restart the system after you save the data to the Vision Sensor.Reference: Communications Module Settings (Startup Settings) (p.57)

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

*1: If you control from six to eight lines in the multi-line random-trigger mode, you cannot use the 256-byte data output sizes.

4 Click the [Apply] button.

Setting item Set value [Factory default] Description

Output control(None)Handshaking

NoneThis setting is used to output the measurement results asynchronously with the external device.

HandshakingThis setting is used to output the measurement results synchronously with the external device.

Output period [ms]

2 to 5,000 cycles(2 cycles)

Set the timing for outputting the measurement results.Set the number of cyclic communications of the EtherCAT PDO communications cycle after which to output the measurement results from the Sensor Controller.

Output time [ms]1 to 1,000 cycles(1 cycle)

Set the time to hold the output of the measurement results.Set the number of EtherCAT PDO communications cycles to hold the output from the Sensor Controller.

Timeout [s] (When [Output Control] is set to [Handshaking])

0.5 to 120.0 s(10.0 s)

Set the timeout time.A timeout error occurs if the external device does not perform handshaking dur-ing the set time.

Line n Data Out-put number (number of data outputs for line n)

Result Data Format 0 (DINT 8)Result Data Format 1 (DINT 16)Result Data Format 2 (DINT 32)Result Data Format 3 (DINT 64)Result Data Format 4 (LREAL 4)Result Data Format 5 (LREAL 8)Result Data Format 6 (LREAL 16)Result Data Format 7 (LREAL 32)Result Data Format 8 (DINT 2 + LREAL 3)Result Data Format 9 (DINT 4 + LREAL 6)Result Data Format 10 (DINT 8 + LREAL 12)Result Data Format 11 (DINT 16 + LREAL 24)

Set number of data items to output for each line.There are two data sizes that are used for the output data: 4 bytes (DINT) and 8 bytes (LREAL).Select the output data sizes and number of outputs from the following selections.

Result Data Format 0 (DINT 8)

Eight 4-byte data items are output. (Total: 32 bytes)


Sixteen 4-byte data items are output. (Total: 64 bytes)


Thirty-two 4-byte data items are output.(Total: 128 bytes)

Result Data Format 3 (DINT 64)*1

Sixty-four 4-byte data items are output.(Total: 256 bytes)

Result Data Format 4 (LREAL 4)

Four 8-byte data items are output.(Total: 32 bytes)


Eight 8-byte data items are output.(Total: 64 bytes)


Sixteen 8-byte data items are output.(Total: 128 bytes)

Result Data Format 7 (LREAL 32)*1

Thirty-two 8-byte data items are output.(Total: 256 bytes)

Result Data Format 8 (DINT 2 + LREAL 3)

Two 4-byte data items and three 8-byte data items are output, for a total of 5 data items. (Total: 32 bytes)


Four 4-byte data items and six 8-byte data items are output, for a total of 10 data items.(Total: 64 bytes)


Eight 4-byte data items and twelve 8-byte data items are output, for a total of 20 data items.(Total: 128 bytes)

Result Data Format 11 (DINT 16 + LREAL 24)*1

Sixteen 4-byte data items and twenty-four 8-byte data items are output, for a total of 40 data items. (Total: 256 bytes)



60

EtherCAT Communications Settings for Multi-line Random-trigger Mode

If you will use the multi-line random-trigger mode for EtherCAT communications for multiple lines, you can set the EtherCAT communications settings only on the setting tab page for line 0.The EtherCAT communications settings for multiple lines are given in the following table.

If you change any of the [Line N Data Output Number] settings, restart the Controller.

If you use alignment, select the data type of the output data according to the application.• DINT Data

This data type holds a single-precision floating-point number.If you use alignment, coordinate values are multiplied by 1,000 and output as integers.Only 1/1,000 of the precision is output.

• LREAL DataThis data type holds a double-precision floating-point number.If you use alignment, coordinate values are output as double-precision floating-point numbers.This allows you to output the actual values to an external device.However, processing 64-bit calculations on the NJ-series Controller or other PLC will be slower than processing 32-bit calculations.

Setting item Description

Output control The same setting is used for all lines.

Output period The same setting is used for all lines.

Output setting

Set for each line.The Fieldbus data output setting for each line depends on the Data Output Num-ber setting. Refer to Output Data Settings (Processing Item Registration) (p.61).

IMPORTANT

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Data Settings (Processing Item Registration)Use the following procedures to set the items to output to EtherCAT and the output format.

Registering Processing Items

Register the processing items for data output in the measurement flow.

1 Click the [Edit flow] button in the Toolbar.

2 Select the [Fieldbus Data Output] processing item from the processing item tree.

3 Click the [Append] button.The [Fieldbus Data Output] processing item is appended at the bottom of the unit list (flow).

4 Click the [Fieldbus Output] ( ) Icon and set the data output items and data format.Refer to the following references for details on the settings.Reference: Setting the Output Data (p.62)

• Depending on the Data Output Number setting for the line, you can set from 4 to 64 data items for output with one data output processing item.Examples:DINT16: You can register up to 16 data items.LREAL 24: You can register up to 24 data items.Refer to Communications Specifications Settings (p.58) for the number of data items that you can output for each Data Output Number setting.If you need to output more data items than given above, use more than one Output Unit.However, the data is output to the same destination, so if you do not control the output, the output data that was output first will be overwritten by the output data that is output after it.Use the following method to read each set of output data.

• Controlling Data Output with HandshakingIf handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals.Each time that data is output, read the output data and move it to a different part of I/O memory in the PLC.Refer to Data Output Control with Handshaking (p.27) for more information on handshaking.

• Data is output in the order of registration in the measurement flow, with each data output processing item executed at a different timing. (Data output is executed in the order that it is registered in the measurement flow.) Reference: Outputting the Output Data (p.23)

Note



62

Setting the Output Data

Set expressions for the data to output.Expressions are set for both 4-byte data (DINT) and 8-byte data (LREAL).

1 Click the Fieldbus Data Output Icon ( ) in the measurement unit list (flow).

2 The Fieldbus Data Output Window is displayed.The following tabs are displayed: [DINT Setting] and [LREAL Setting]. The output data numbers are displayed according to the EtherCAT communications settings.

3 Click the [DINT Setting] or [LREAL Setting] tab.The [DINT Setting] or [LREAL Setting] tab page is displayed according to the EtherCAT communications settings.

4 In the list, select the output data number for the expression to set.

The selected output data number is displayed under the list.

5 Click the [...] button next to the expression box and set the expression.

Specify the processing items, measurement results, and measurement data in the expression.You can also perform arithmetic or function calculations on the measurement data before it is output.

6 Click the [...] button for the [Comment] box and enter an explanation of the expression.The comment you enter will be displayed in the detailed results on the Main Window. For example, if you enter “Test” as the comment for expression 0, “Test” will be displayed in place of “Expression 0” in the detailed results area on the Main Window.

7 Repeat steps 4 and 5 to set expressions for all of the required output data numbers.

8 Click the [DINT Setting] or [LREAL Setting] tab and then set expressions in the same way as for steps 3 to 5, above.

The Fieldbus Data Output setting item changes according to the EtherCAT communications settings. Set the total output data size (256 bytes max.) and the number of data items to output (64 max.) in the EtherCAT communications settings in advance.

If you delete one of the expressions that is set for an output data number, 0 is output for the output data for that number.

Note

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

EtherCAT Network Configuration SettingsTo connect FH-series Vision Sensors to an NJ-series Controller, you must use the Sysmac Studio to register the Vision Sensors in the network configuration.

Registering the Vision Sensors in the EtherCAT Slave Configuration

Register the Vision Sensors in the EtherCAT slave configuration on the [Edit Network Configuration] tab page.Refer to Section 5 Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the registration procedure.

Setting the Data Output Sizes

Use the Sysmac Studio to assign PDO communications areas for each line in the master according to the Data Output Number settings in the EtherCAT communications specifications settings.There are the following two setting methods.

Online settingsIf the data output sizes are already set in the Vision Sensors, use the following procedure to make the settings in the Sysmac Studio.

1 Place the Sysmac Studio online with a Vision Sensor.

2 Take the Vision Sensor offline. The settings from the Vision Sensor will be loaded to the Sysmac Studio.

3 PDO communications areas will also be assigned in the master according to the EtherCAT communications specifications settings.

Offline settingsTo set the data output sizes on the Sysmac Studio when they are not yet set in the FH-series Vision Sensors, use the following procedure offline.

1 Display the window to edit the FH-series system data.

2 Display the EtherCAT Settings Window and select the check boxes for the EtherCAT settings.

3 Restart the FH Simulator to enable the settings.

4 After the Simulator is restarted, display the EtherCAT Settings Window and set the Data Output Number for each line.

5 Restart the FH Simulator to enable the settings.PDO communications areas will also be assigned in the master according to the EtherCAT communications specifications settings.

Use Sysmac Studio Standard Edition version 1.07 or higher to set up the EtherCAT connections between FH-series Vision Sensors and an NJ-series Controller.

IMPORTANT



64

If you change any parameter that requires that the Vision Sensor be restarted, will be displayed by the model in the Multiview Explorer. If this icon is displayed, restart the Vision Sensor.

If six to eight lines are controlled in multi-line random trigger mode, settings where the data output size (data output number) is 256 bytes*1 cannot be used. If a 256-byte data output size is set, a warning mark will appear in Sysmac Studio.*1: Three types: "Result Data Format 3 (DINT 64)", "Result Data Format 7 (LREAL 32)", "Result Data Format 11 (DINT 16 +

LREAL 24)"

Note

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications TestYou can check whether the EtherCAT communications settings are correct.If communications are performed normally, the ECAT RUN indicator on the Vision Sensor will light green.If communication does not take place normally, check the communication specification settings.An error log is recorded in Troubleshooting in Sysmac Studio. Use the error log to help resolve the problem. Refer to Sysmac Error Status Event Code Table (p.90).

I/O Ports by Area (PDO Mapping) and Memory AssignmentsThis section describes the I/O ports in the Command, Response, Data Output, and Sysmac Error Status Areas.Refer to the following section for the sizes, data types, default values, and other information on the I/O ports.Reference: Vision Sensor Specific Objects (p.143)

Command Area I/O PortsController (Master) to Vision Sensor (Slave)

I/O port name Signal name Function

Control Flag Control Signals

Command Request

Command Request

Switches from OFF to ON when the Controller (master) instructs the sensor controller (slave) to execute the control command. (Switches from OFF to ON when setting of the control command code and param-eter is completed.)

Switched from ON back to OFF by the Controller (master) when the Command Completion signal from the Sensor Controller (slave) turns ON.

Trigger Measurement Trigger

Switches from OFF to ON when the Controller (master) requests mea-surement execution.

This signal returns to OFF when the Trigger Acknowledged signal goes ON.

Flow Command Request

Flow Command Request

Turn ON this signal to request execution of a command that was input during execution of the fieldbus flow control.

Switched from ON back to OFF when the Flow Command Completion signal turns ON.

Error Clear Clear Error

Switches from OFF to ON to turn OFF the Sensor Controller (slave) Error Status signal.

Switches back to OFF when the Error Status signal from the Controller (master) turns OFF.

Result Set Request

Data Output Request*1: Used only when output

handshaking is enabled.

Switches from OFF to ON when the Controller (master) requests data output. After receiving a data output request, the Sensor Controller (slave) outputs the data.

Switches from ON back to OFF by the Controller (master) when the Result Notification signal from the Sensor Controller (slave) turns ON.

Command Code Command code This I/O port stores the command code.

Command Parameter 0 to 3

Command parameters These I/O ports store the command parameters.



66

Response area I/O portVision Sensor (Slave) to Controller (Master)I/O port name Signal name Function

Vision Status Flag Status Signals

Command Completion

Command Completion

Switches from OFF to ON when the Sensor Controller (slave) completes execution of the control command and stores the control command code, response code, and response data.

Automatically switches from ON to OFF when the Com-mand Request signal from the Controller (master) turns from ON to OFF.

BUSY Busy

Turns ON if execution of the control command by the Sen-sor Controller (slave) is not possible.

Turns OFF if execution of the control command by the Sen-sor Controller (slave) is possible.

Trigger Ready Trigger Ready

Turns OFF if the Sensor Controller (slave) cannot accept the measurement trigger.

Turns ON if the Sensor Controller (slave) can accept the measurement trigger.

Total Judgment Overall Judgement OutputThis signal turns ON when the overall judgement is NG.

This signal turns OFF when the overall judgement is OK.

Run Mode Run Mode

Turns ON when the Sensor Controller (slave) is in Run mode.

Turns OFF when the Sensor Controller (slave) is not in Run mode

Trigger Ack Trigger Acknowledged

This signal turns ON when the Vision Sensor receives a Trigger signal.

This signal automatically turns OFF when the Trigger signal turns OFF.

Command Ready

Command Ready

This signal turns ON when control command execution is possible.

This signal turns OFF when control command execution is not possible.

Shutter Output Shutter Trigger Output

This signal turns ON when the sensing elements have com-pleted exposure.

This signal turns OFF after one output period of EtherCAT communications.

Flow Command Completion


Turns ON after the Sensor Controller (slave) echoes back the executed command code, and sets the response code and response data during Fieldbus Flow command execu-tion.

Turns OFF after checking that the Flow Command Request signal is OFF.

Flow Command Busy

Flow Command BusyThis signal is ON when a command that was input during execution of the fieldbus flow control is being executed.

Turns OFF after completion of the executed command.

Flow Command Wait

Flow Command Wait

This signal is ON when a command can be input during execution of the fieldbus flow control.

This signal is OFF when a command cannot be input during execution of the fieldbus flow control.

Error Status Error SignalTurns ON if the Sensor Controller (slave) detects an error.

Turns OFF if the Sensor Controller (slave) runs normally.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

I/O Ports in the Data Output AreaSensor Controller (Slave) to Controller (Master)

I/O Ports in Sysmac Error Status AreaVision Sensor (Slave) to Controller (Master)The Sysmac Error Status is mapped only when connected to an NJ-series Controller.Sysmac Studio Standard Edition version 1.07 or higher is required.

Status Flag Status Signal

Result Notification

Data Output Completion

Switches from OFF to ON when the Sensor Controller (slave) completes data output.

• No HandshakingThis signal turns OFF after the output time that is set in the EtherCAT settings has elapsed.• Using Handshaking

Automatically switches from ON to OFF by the Controller (master) when the Result Set Request signal from the Con-troller (master) turns from ON to OFF.

Command Code Echo Back

Command echo code This I/O port returns the command code that was executed.

Response Code Response codeThis I/O port contains the response code of the executed command.

Response Data Response dataThis I/O port contains the response data of the executed command.

Error Code Error CodeThe event code for the Sysmac error status is stored here when an error occurs. Refer to Reference: Sysmac Error Status (p.90) for the event codes.

I/O port name Signal name Data output number Function

DINT Result Data 0 to 63

Output data 1 to 64

1 (4 bytes) to 64 (256 bytes)

The pattern that is set for the Data Output Number setting in the communications settings is output.Example: If the Data Output Number is set to 32 bytes DINT 2 + LREAL 3, the I/O ports would be assigned as follows:DINT Result Data 0DINT Result Data 1LREAL Result Data 0LREAL Result Data 1LREAL Result Data 2

LREAL Result Data 0 to 31

Output data 1 to 32

1 (8 bytes) to 32 (256 bytes)


Sysmac Error Status

Sysmac Error Status Gives the Sysmac error status.

Observation Observation ErrorTurns ON if an observation error occurs in the Sensor Con-troller (slave).

Minor Fault Minor Fault Level ErrorTurns ON if a minor fault level error occurs in the Sensor Controller (slave).




68

Rules for I/O port namesAn I/O port name consists of the device name and controlled line number, as shown below. If only one line is controlled, the line number is given as “Line0.”

Example: Command Request Signal in the Command Area

E001_Line0_Command Request

• Device nameWhen the operation mode is multi-line random trigger mode, the I/O ports of the Command Area, Response Area, and Data Output Area are assigned separately for each line. The I/O ports in the Sysmac Error Status Area are shared by all lines.

Line used

I/O port

When the operation mode is not multi-line random trigger mode

When the operation mode is multi-line random trigger mode

(Example: When the number of lines is 3)

Line 0 E001_Line0_Command_Request E001_Line0_Command_Request

Line 1 --- E001_Line1_Command_Request

Line 2 --- E001_Line2_Command_Request

Line numberDevice name


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Assigning Device Variables to I/O Ports (PDO Mapping)

When the Sensor Controller is connected to an NJ-series CPU unit, the data for PDO communications in the Sensor Controller is displayed in the I/O port names in Sysmac Studio. You can assign device variables to the I/O ports in the Sysmac Studio I/O map to perform programming and monitoring.

Multiview Explorer (Connected to NJ-series CPU Unit): [Configurations and Setup] − [I/O Map] (Double-click)

Right-click a slave or I/O port in the I/O map and select [Create Device Variable]. The device variable name is automatically created as a combination of the device name and the I/O port name. You can also select an I/O port and enter a variable name in the [Variable] column.

In addition to using [Create Device Variable] to register a device variable, you can also select a registered variable from the variable table. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering device variables.



70

I/O SignalsThe following tables list the signals that are used to control I/O for EtherCAT.

Input Signals

*1: A timeout error will occur if the Result Set Request signals does not turn OFF within the timeout time that is set in the EtherCAT settings after the Result Notification signal turns ON. However, data will not be corrupted even if a timeout error occurs for EtherCAT. Clear the timeout error and turn ON the Result Set Request signal to output the data from when the timeout occurred.

*2: A timeout error will occur if the Result Set Request signal does not turn ON within the timeout time that is set in the EtherCAT settings after the Trigger signal or Command Request signal turns ON and measurement processing is started.


ON/OFF timing

OFF to ON ON to OFF

Command Request

Command Execution

Turn ON this signal (from the PLC) to send a command to the Vision Sensor.

Turn ON the signal (from the PLC) to send a command to the Vision Sensor and request execution based on the com-mand code and command parameters.

Switched from ON back to OFF by the user (PLC) when the Command Completion sig-nal from the FH turns ON.

Result Set Request (Used only for hand-shaking out-put control.)

Data Out-put Request

During handshaking, send this signal from the PLC to the Vision Sensor to request the external output of the data out-put results from the execution of the measurement flow.

If this signal is ON when an Output Unit (Fieldbus Data Output Unit) in the measure-ment flow is executed, the Vision Sensor will output the data from the processing item.If multiple output units are used to output more than 256 bytes of output data, turn ON the Result Set Request signal again after the Result Notifica-tion signal for the first data out-put turns OFF.Refer to Time Charts (p.85).

• Turn ON the signal (from the PLC) to externally output the data that results from measurement.*2

• This Result Set Request signal is turned ON at the same time that the Trigger signal or Command Request signal switches from OFF to ON.

Switched from ON back to OFF by the user (PLC) when the Result Notification signal from the FH turns ON. *1

Error Clear Error ClearTurn ON this signal to clear the Error Status signal from the Vision Sensor.

Turn ON the signal (from the PLC) when the Error Status signal turns OFF.

Turn OFF the signal (from the PLC) when the Error Status signal turns OFF.

Flow Com-mand Request

Flow Com-mand Request

Turn ON this signal to execute a command during execution of the fieldbus flow control.

Turn ON this signal (from the PLC) to request execution of a command that was input dur-ing execution of the fieldbus flow control.

Switches from ON back to OFF when the Flow Command Completion signal turns ON.

TriggerMeasure-ment Trig-ger

Turn ON this signal to execute measurements.

Turn ON this signal (from the PLC) to execute measurement after checking that the Trigger Ready signal is ON.

The PLC switches this signal from ON back to OFF when it detects Trigger Ack signal ON from the FH.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Signals

Signal name Function

ON/OFF timing

OFF to ON ON to OFF

BUSY Busy

This signal tells when com-mands and other external inputs cannot be acknowl-edged.Make sure this signal is OFF before you request a com-mand.*1: During continuous

measurement, the BUSY signal remains ON. The FH accepts the Command Request signal only after receiving the End Continuous Measurement command.

Note:• The execution of commands

or other processing received through any other protocol cannot be detected. (Example: This signal remains OFF during measurements for a parallel communications Trigger signal.)If you use more than one protocol and need to detect command execution, use the parallel communications BUSY signal.

• ON of this signal does not indicate that the command is being executed. To check whether the command is being executed, check the status of the Command Completion signal.

The Vision Sensor turns ON this signal when it receives a command from the user (PLC). (The signal turns ON after the Command Request signal turns ON.)

The signal turns OFF when command execution is com-pleted.

Command Completion

Command Execution Completion

The Vision Sensor uses this signal to tell the user (PLC) that command execution has been completed.

The signal turns ON when the Vision Sensor completes exe-cution of a received command.

Turns OFF when the user (PLC) switches the Command Request signal from ON to OFF.



72

Result Notification

Data Out-put Comple-tion

This signal tells the user (PLC) when to read the measurement results.Data output is enabled when this signal is ON.Read the data (from the PLC) when this signal turns ON.

• No Handshaking The signal turns ON after the Vision Sensor executes the Output Unit (Fieldbus Data Output Unit) in the measurement flow and preparations for data output have been completed.

• HandshakingDuring execution*2 of the Profibus Data Output unit in the measurement flow by the FH, the signal turns ON when the data is ready to be output and the Result Set Request signal is ON.

*2: This occurs when the Output Unit is executed as the measurement flow is executed in order from the top. It does not occur when execution of a measurement is completed.

• No Handshaking:The signal turns OFF after the output time that is set in the EtherCAT settings has elapsed.

• Handshaking:This signal turns OFF when the user (PLC) switches the Result Set Request signal from ON to OFF.

Error Status

Error Signal

The Vision Sensor provides notification with this signal when it detects the following errors.Refer to: Error Messages and Troubleshooting in the Vision System FH/FZ5 SeriesUser's Manual (Cat. No. Z340).

This signal turns ON when the Vision Sensor detects an error.

This signal turns OFF when the error is eliminated and the user (PLC) performs another measurement or clears the error (i.e., turns ON the Error Clear signal).

Run Mode Run ModeThis signal tells when the Sen-sor Controller is in Run Mode.

The signal is ON when the Vision Sensor can execute measurements and the Run Mode Signal Output Check Box is selected in the Layout Setup on the Layout Window. (The RUN indicator will light.)

The signal is OFF when the Vision Sensor cannot execute measurements and the Run Mode Signal Output Check Box is not selected in the Lay-out Setup on the Layout Win-dow.

Total Judgment

Overall Judgement

This signal gives the results of the overall judgement.

The signal turns ON when the overall judgement is NG.

The signal turns OFF when the overall judgement is OK.

Trigger ACK

Trigger Acknowl-edge

The Vision Sensor uses this signal to acknowledge recep-tion of a Trigger signal.

The signal turns ON when the Vision Sensor receives a Trig-ger signal.

The signal turns OFF when the user (PLC) turns OFF the Trig-ger signal.

Command Ready

Command Execution Ready

This signal tells when control command can be executed.

The signal turns ON when con-trol command execution is pos-sible.

The signal turns OFF when control command execution is not possible.


ON/OFF timing

OFF to ON ON to OFF


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Trigger Ready

Trigger Input ready

This signal tells when the Cameras that are assigned to the Trigger signals can execute measurements.*1: If you use a Camera with

Lighting Controller, the time required for the Trigger Ready signal to turn OFF may increase in comparison with not using a Camera with a Lighting Controller.For details, refer to

Camera Image Input FH or Camera Image Input HDR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat No. Z341).

This signal is ON when the Cameras that are assigned to the Trigger signals can execute measurements (i.e., when a Trigger signal can be input).

This signal is OFF when even one of the Cameras that are assigned to Trigger signals cannot execute measure-ments (i.e., when a Trigger sig-nal cannot be input).

Shutter Output

Shutter Trig-ger Output

This signal tells when expo-sure of the sensing elements has been completed.• If more than one Camera is

connected, the signal will remain ON for the Camera with the longest exposure time.

• You cannot use the Shutter Output Signal when the image mode is set for a through image. If you have registered more than one Camera Image Input processing unit in the measurement flow, the SHTOUT signal will be turned ON for each Camera Image Input processing unit individually. Therefore, use Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow.

The signal is ON when the sensing elements have com-pleted exposure.

The signal operates according to the output signal settings.After the completion of expo-sure, the signal turns ON after the time that is set for the Shut-ter Output Signal elapses and then turns OFF after the time that is set for the Shutter Out-put Pulse Width elapses.Refer to Setting the Output Signal Specifications (p.285) for information on the Shutter Output Signal settings.


Flow Com-mand Exe-cution Completion

This signal tells when execu-tion of a command that was executed during execution of the fieldbus flow control has been completed.

Turned ON after echo back, response code and response data have been set for an exe-cuted command code when the executed command has completed when executing Fieldbus flow control.

Switched from ON to OFF when the Flow Command Request signal switches from ON to OFF when executing Fieldbus flow control.

Flow Command Busy

Flow Com-mand Exe-cuting

This signal tells when a com-mand that was input during execution of the fieldbus flow control is being executed.

This signal is ON when a com-mand that was input during execution of the fieldbus flow control is being executed.

Switched from ON to OFF when execution of an entered command completes when executing Fieldbus flow con-trol.


ON/OFF timing

OFF to ON ON to OFF



74

Measurement Results That You Can Output with Fieldbus Data OutputYou can use the processing items that are related to outputting results to output the following data.You can also access measured values from the Calculation or other processing units.

Flow Command Wait

Flow Com-mand Wait

This signal tells when input of a command can be acknowl-edged during execution of the fieldbus flow control.

This signal is ON when a com-mand can be input during exe-cution of the fieldbus flow control.

Switched from ON to OFF when the Flow Command Request signal switches from ON to OFF when executing Fieldbus flow control.

Measured items Text string Description

Judgement JG Judgement result

DINT data 0 to 63 DI00 to DI63Results of expressions that are set for output data 0 to 63 in DINT (4-byte) format

LREAL data 0 to 31 DL00 to DL31Results of expressions that are set for output data 0 to 31 in LREAL (8-byte) format


ON/OFF timing

OFF to ON ON to OFF


2

Methods for C

onnecting and Com

municating w

ith External D

evices

External Reference Table for Fieldbus Data Output

By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function..

Number Data name Set/Get Data range

0 Judgement Get only0: No judgement (unmeasured)1: Judgement result OK−1: Judgement result NG

1000+10*N(N=0...63) DINT data 0 to data 63 Get only −99999999.9999 to 999999999.9999

2000+10*N(N=0...31) LREAL data 0 to data 31 Get only −99999999.9999 to 999999999.9999



76

Command ListThis section describes the commands that you can use with EtherCAT.

Execution Commands

Use device variables assigned to the I/O port of the command area to specify command codes and command parameters of commands used in EtherCAT.To specify a command code or command parameter for a device variable, refer to the following:

Details of Commands Used in EtherCAT Communication (p.330)

Command code for

Command Area (hex)

Command name Function Reference

0010 1010 Single Measurement Performs 1 measurement.Reference:

(p.337)

0010 1020 Start Continuous Measurements Executes continuous measurements.Reference:

(p.337)

0010 1030 End Continuous Measurements Ends continuous measurements.Reference:

(p.338)

0010 1040 Execute Unit TestExecutes a test measurement for the speci-fied Unit.

Reference: (p.338)

0010 2010 Clear Measurement Values Clears all measurement result values.Reference:

(p.339)

0010 2020 Clear Data Output Buffer Clears all data in the data output buffer.Reference:

(p.340)

0010 3010 Save Data in SensorSaves the current system data and scene groups in the Sensor.

Reference: (p.340)

0010 4010 Re-register Model Registers the model again.Reference:

(p.341)

0010 5010 ScrollShifts the image display position by the spec-ified amount.

Reference: (p.342)

0010 5020 ZoomZooms the image display in or out by the specified factor.

Reference: (p.343)

0010 5030 FitReturns the display position and display mag-nification to their default values.

Reference: (p.343)

0010 7010 Copy Scene Data Copies the scene data.Reference:

(p.344)

0010 7020 Delete Scene Data Deletes the scene data.Reference:

(p.345)

0010 7030 Store Scene Data Stores the scene data.Reference:

(p.345)

0010 8020 Load Registered ImageLoads the specified registered image as the measurement image.

Reference: (p.347)

0010 9010 EchoReturns an entered text string without chang-ing it.

Reference: (p.347)

0010 B010 Return to Start of FlowBranches to the start of the measurement flow (processing unit 0).

Reference: (p.350)

0010 F010 Reset Resets the Sensor Controller.Reference:

(p.350)

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Commands to Get Status

Commands to Set Status

Command code for

Command Area (hex)


0020 1000 Get Scene Number Acquires the current scene number.Reference:

(p.351)

0020 2000 Get Scene Group Number Gets the scene group number.Reference:

(p.351)

0020 4000 Get Layout NumberGets the number of the layout that is currently displayed.

Reference: (p.352)

0020 5010 Get Display Image Unit NumberGets the number of the Unit that is currently displayed in the specified image display win-dow.

Reference: (p.353)

0020 5020 Get Display Subimage NumberGets the subimage number for the specified image display window.

Reference: (p.353)

0020 5030 Get Image Display StatusGets the image mode for the specified image display window.

Reference: (p.354)

0020 7010 Get Communications Input StatusGets the input status (enabled/disabled) for the Communications Modules.

Reference: (p.355)

0020 7020 Get Communications Output StatusGets the output status (enabled/disabled) to external devices.

Reference: (p.355)

0020 8010 Get Parallel Terminal StatusGets the ON/OFF status of the specified par-allel I/O terminal.

Reference: (p.356)

0020 8020 Get All Parallel Terminal StatusesGets the ON/OFF status of all parallel termi-nals except for DI terminals

Reference: (p.358)

0020 8030 Get All Parallel DI Terminal StatusesGets the ON/OFF status of all parallel DI ter-minals

Reference: (p.359)

0020 A000 Get Operation Log State Gets the current state of the operation log.Reference:

(p.359)

Command code for

Command Area (hex)


0030 1000 Select Scene Changes to the specified scene number.Reference:

(p.361)

0030 2000 Set Scene GroupChanges to the scene group with the speci-fied number.

Reference: (p.362)

0030 4000 Set Layout NumberSets the layout number and changes the image.

Reference: (p.363)

0030 5010 Set Display Image Unit NumberSets the number of the Unit to display in the specified image display window.

Reference: (p.364)

0030 5020 Set Display Subimage NumberSets the number of the subimage to display in the specified image display window.

Reference: (p.365)

0030 5030 Set Image Display StatusSets the image mode for the specified image display window.

Reference: (p.366)

0030 7010 Set Communications Input StatusEnables/disables inputs to the Communica-tions Modules.

Reference: (p.367)



78

Commands to Read Data

Commands to Write Data

0030 7020 Set Communications Output Status Enables/disables outputs to external devices.Reference:

(p.367)

0030 8010 Set Parallel Terminal StatusSets the ON/OFF status of the specified par-allel I/O terminal.

Reference: (p.368)

0030 8020 Set All Parallel Terminal StatusesSets the ON/OFF status of all parallel termi-nals, except for DO terminals

Reference: (p.368)

0030 8030 Set All Parallel DO Terminal StatusesSets the ON/OFF status of all parallel DO ter-minals

Reference: (p.369)

0030 A000 Set Operation Log State Sets the state of the operation log.Reference:

(p.371)

Command code for

Command Area (hex)


0040 1000 Get Unit Data Gets the unit data.Reference:

(p.372)

0040 4050 Get Data Logging ConditionsGets the conditions that are set for data log-ging.

Reference: (p.379)

0040 4060 Get Parallel Terminal OffsetGets the parallel DI terminal offset data that is set.

Reference: (p.380)

Command code for Command Area

(hex)Command name Function Reference

0050 1000 Set Unit Data Sets the unit data.Reference: (p.381)

0050 4050 Set Data Logging Conditions Sets the data logging conditions.Reference: (p.386)

0050 4060 Set Parallel Terminal Offset Sets the parallel DI terminal offset data.Reference: (p.387)

Command code for

Command Area (hex)



2

Methods for C

onnecting and Com

municating w

ith External D

evices

Measurement Trigger InputThe ON/OFF timing of signals related to input of the measurement trigger is indicated in the timing chart below.

Measurement Trigger Input Timing ChartThe Trigger signal is used to input a measurement trigger. One measurement is executed each time the Trigger signal turns ON.

(1) After checking the Trigger Ready signal is ON, the Controller (master) turns the Trigger signal ON.(2) The Sensor Controller (slave) will change the state of the following signals..

- The BUSY signal turns ON when the measurement starts.- Trigger ACK signal turns ON.- The Trigger Ready signal turns OFF.

(3) The controller (master) turns OFF the Trigger signal.(4) The Sensor Controller (slave) turns OFF the Trigger ACK signal.(5) The Sensor Controller (slave) turns the Trigger Ready signal ON when image input has finished and the

Sensor Controller (slave) is ready for measurement trigger input.(6) When measurement processing has finished, the Sensor Controller (slave) turns the Total Judgment

signal ON.(7) When measurement processing has finished, the Sensor Controller (slave) turns the Busy signal OFF.

Command AreaMeasurementTrigger signal

Response Area

Trigger ACKStatus signal

BUSY signal

Trigger Readysignal

Total Judgmentsignal

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

(1)(2)(3)(4)(5) (6)(7)

ON



80

Command Response ProcessingThe ON/OFF timing of related signals from command input in control command response processing is indicated in the timing chart below.

Timing Chart for Command ExecutionThe Command Request signal is used as the trigger for input/execution of commands from the Controller (master) for operations such as measurement execution.After command execution, switch the Command Request signal back to OFF using the Command Completion signal = ON as the trigger.

(1) The Controller (master) sets the command code and command parameters.(2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF, the

Controller (master) turns the Command Request signal ON.(3) The Sensor Controller (slave) turns ON the Busy signal.(4) The Sensor Controller (slave) turns OFF the Busy signal when command execution is finished.(5) The Sensor Controller (slave) sets command echo back, the response code and response data, then

turns the Command Completion signal ON.(6) The Controller (master) turns OFF the Command Request signal.(7) The Controller Sensor (slave) turns OFF the Command Completion signal.

*1: A timeout error occurs and the Command Completion signal and Busy signal are forcibly turned OFF if the CommandRequest signal is not turned OFF from the Controller (master) within the timeout time set in the EtherCAT settings.

Command Area

Command code

Command parameters

Command Request signal

Command Completionsignal

Command CodeEcho Back

BUSY signal

Response code

Response data

Response Area

Control command execution

(1) (2) (4) (5)

(6)

(3)

(7)

Set timeout time

The BUSY signal automatically turns OFF when command execution is finished.

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

*

Command Execution Readysignal


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Continuous Measurement Command without HandshakingContinuous execution is used to repeatedly execute measurements by starting the next measurement operation (image input and measurement processing) as soon as one measurement operation (image input and measurement processing) is completed.Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed.

Command Area

Command code

Command parameters


Command CodeEcho Back

BUSY signal

Command Execution Ready signal

Response code

Response Area

(1) (2) (3) (4)

(5)*1

Timeout time

(6) (9)(10)

(11)

(13)*1

(14)

Timeout time

(12)

Measurement

(10)

Start Continuous Measurements command End Continuous Measurements command

Trigger Readysignal

MeasurementMeasurement

(8)

(7)

Command Completion signal

Total Judgement signal

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

(*2) (*2)

OFF

ON

Preparations to execute continuous measurements are started.

(8)



82

Operation to Start Continuous Measurements(1) The Command code and command parameters are set by the Controller (master).(2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF,

the Controller (master) turns ON the Command Request signal.(3) The Sensor Controller (slave) echoes back the command code and sets the response code.(4) The Sensor Controller (slave) turns ON the Command Completion signal.(5) The controller (master) turns OFF the Command Request signal.*1

(6) The Sensor Controller (slave) turns OFF the Command Completion signal.(7) The Sensor Controller (slave) starts continuous measurement.(8) The Sensor Controller (slave) turns the Busy signal ON and the Trigger Ready signal OFF.

*1: A timeout error occurs and the Command Completion signal and Busy signal are forcibly turned OFF if the Command Request signal is not turned OFF from the PLC (user) within the timeout time set in the EtherCAT settings.

Operation to End Continuous Measurements(9) The Controller (master) sets the command code for the End Continuous Measurements command

when continuous measurement is being executed by the continuous measurement command.(10) The Controller (master) turns ON the Command Request signal.

• Ending Continuous Measurements(11) The Sensor Controller (slave) stops continuous measurement and turns off the Busy signal.(12) The Sensor Controller (slave) sets command code echo back and the response code, and turns the

Command Completion signal ON.(13) The controller (master) turns OFF the Command Request signal.(14) The Sensor Controller (slave) turns OFF the Command Completion signal.

Continuous measurements are not ended in the middle of a measurement.When the End Continuous Measurements command is executed, continuous measurements are ended after the measurement that is currently being executed is completed.

• The measurements during continuous measurements are given priority. Therefore, display of the measurement results (total judgment, images, judgment for each processing unit in the flow display, and detailed results) may sometimes not be updated.

• When continuous measurements are ended, the measurement results from the last measurement will be displayed.

Note

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Data OutputThe ON/OFF timing of signals related to data output after completion of measurement is indicated in the timing chart below.

No Handshaking

(1) The Sensor Controller (slave) outputs data when the Fieldbus Data Output Unit starts execution.(2) Data is output every time the Fieldbus Data Output Unit or another Fieldbus Data Output Unit is

executed. The previously output data is overwritten.

Using HandshakingThe Result Notification signal is switched from OFF to ON when the Controller (master) switches the Result Set Request signal from OFF to ON. At this point, the Sensor Controller (master) outputs the data(*1) that is ready to be output.Switch the Result Set Request signal from ON back to OFF after the Controller (master) has checked that the Result Notification signal is ON and has read the data.When there are data to be sent from multiple Fieldbus Data Output units, turn ON the Result Set Request signal again to output the next output data when the Sensor Controller (slave) turns the Result Notification signal from ON to OFF.*1: This is the data that is prepared for output when the Output Unit is executed in the measurement flow.

Set the output period in the communications settings to a time that is longer than the output time.

Fieldbus Data Output Unit execution


Output data

Response Area

Data Output Area

(1) (2)

*1, *2: Data is output at the set output period*1 and for the set output time.*2 After data is output, the Result Notification signal is turned ON and the data is held for the data output time.

Result Notification signal

*1

*2

OFF

ON

OFF

ONFirst data output Second data output

The data is overwritten by the second data output.

IMPORTANT



84

(1) The Controller (master) turns ON the Result Set Request signal.(2) When the Fieldbus Data Output Unit in the measurement flow is executed, the Sensor Controller

(slave) writes the data then turns the Result Notification signal ON.(3) After reading the data, the Controller (master) turns the Result Set Request signal OFF.(4) The Sensor Controller (slave) turns OFF the Result Notification signal.(5) If there are multiple Field Data Output Units in the measurement flow, the Controller (master) turns the

Result Set Request signal ON, then waits for execution of the next Fieldbus Data Output Unit to be processed.

(6) When the next Fieldbus Data Output Unit is executed, the Sensor Controller (slave) writes the data, then turns the Result Notification signal ON.Repeat steps 3 to 6.

*: A timeout error will occur if any of the following states continues for longer than the timeout time that is set in the EtherCAT settings.• If the Result Set Request signal is not turned ON after a certain time elapses from when the Output Unit is executed. (Turn ON the Result Set Request at the same time as the measurement trigger input or the command input.)• If the Result Set Request signal is not turned OFF after a certain time elapses from when the Result Notification signal turned ON.



The Trigger signal is turned ON at the same time.

Result Set Request signal

Result Notification signal

Output data

(3) (4) (5) (6) (2)

Second data output

(1)

OFF

ON

OFF

ON

OFF

ON

* *

First data output



The Controller (master) switches the Result Set Request signal from OFF to ON at the same time that the Trigger signal or Command Request signal switches from OFF to ON, and waits for the first data output.

When the Result Notification signal is ON, the Controller (master) reads the data and switches the Result Set Request signal back to OFF.

The Sensor Controller (slave) checks that the Result Set Request signal has turned OFF, then automatically turns the Result Notification signal OFF.

When the Result Notification signal has switched from ON to OFF, the Controller (master) switches the Result Set Request signal from OFF back to ON, and waits for the second data output.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Time ChartsThe ON/OFF timing of signals related to the sequence of operation from control command input until data output after completion of measurement is indicated in the timing chart below.

Example 1: Inputting a Measurement Trigger after Changing a Scene without Handshaking

(1) The Controller (master) sets the command code and command parameters for the scene switching command.

(2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF, the Controller (master) turns ON the Command Request signal.

(3) The Sensor Controller (slave) turns the Busy signal ON, turns the Command Ready signal OFF and changes the scene.

(4) When the scene change has finished, the Sensor Controller (slave) turns the Busy signal OFF and turns the Command Ready signal ON.

(5) The Sensor Controller (slave) turns ON the Command Completion signal.(6) The Controller (master) turns OFF the Command Request signal.(*1)

(7) The Sensor Controller (slave) turns OFF the Command Completion signal.(8) The Controller (master) turns ON the Trigger signal.

(12)

(4)

Command code

Command parameters


Command Area

Response Area

Select Scene command

Scene No.

Select Scene command execution

(1)(2)

(3)

(5)

(7)

(8)

(13)

(15)

(15)

(6)

(3)

(9)

(10)

(14) (16)

(11)

Data Output Area


Trigger signal

BUSY signal

Command Ready Signal

Command Completion signal

Trigger Ready signal

Result Completion signal

Output data

OFF

ON

OFF

ON

ON

*OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Trigger acknowledgement (Trigger ACK) signal OFF

ON

OFF

ON

OFF

ON

OFFMeasure-ment trigger execution



86

(9) The Sensor Controller (slave) turns ON the Trigger ACK signal, and turns OFF the Trigger Ready signal.

(10) The Controller (master) turns the Trigger signal OFF.(*1)

(11) The sensor controller (slave) turns OFF the Trigger ACK signal.(12) The Sensor Controller (slave) turns the Busy signal ON, turns the Command Ready signal OFF, then

executes measurement processing.(13) When image input processing has finished and trigger input is enabled, the Sensor Controller (slave)

turns the Trigger Ready signal ON.(14) When the Fieldbus Data Output processing unit within the measurement flow is executed, the

Sensor Controller (slave) turns ON the Result Notification signal after writing the data.(15) When the time set for [Output time] in the EtherCAT settings has elapsed, the Sensor Controller

(slave) turns the Result Notification signal OFF.(16) When measurement processing has finished, the Sensor Controller (slave) turns the Busy signal

OFF and turns the Command Ready signal ON.

*1: A timeout error occurs and the Command Completion signal and BUSY signal are forced OFF if the Command Request signal or Trigger signal is not turned OFF from the PLC (user) within the timeout time that is set in the EtherCAT settings.

Before inputting a measurement trigger after changing the scene, first check that the Command Completion signal that was turned ON by execution of the scene change command has turned OFF, and that the Trigger Ready signal is ON.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Example 2: Outputting Data with More Than One Output Unit without Handshaking

(1) After checking that the Trigger Ready signal is ON and the Command Completion signal is OFF, the Controller (master) turns ON the Trigger signal.

(2) The Sensor Controller (slave) turns ON the Trigger Ack signal, and turns OFF the Trigger Ready signal.

(3) The controller (master) turns OFF the Trigger signal.(4) The Sensor Controller (slave) turns OFF the Trigger ACK signal.(5) The Sensor Controller (slave) turns the Busy signal ON and executes measurement processing. When

image input processing has finished and trigger input is enabled, the Sensor Controller (slave) turns the Trigger Ready signal ON.

(6) When the first Fieldbus Data Output Unit in the measurement flow is executed, the Sensor Controller (slave) writes the data, then turns the Result Notification signal ON.

(7) When the time set for [Output time] in the EtherCAT settings has elapsed, the Sensor Controller (slave) turns the Result Notification signal OFF.

(8) When the second Fieldbus Data Output Unit in the measurement flow is executed after the output cycle of the first Fieldbus Data Output Unit has elapsed, the Sensor Controller (slave) turns the Result Notification signal ON.

(9) When the time set for [Output time] in the EtherCAT settings has elapsed, the Sensor Controller (slave) turns the Result Notification signal OFF.

(10)When measurement processing has finished, the Sensor Controller (slave) turns the Busy signal OFF.

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

BUSY signal

Trigger acknow-ledgement (Trigger ACK) signal

Result Notificationsignal

Trigger Readysignal

Output dataData Output Area

Command Area

Response Area

(2)

(1) (6)

(10)

(6) Execution of first Fieldbus Data Output Unit

(8) Execution of second Fieldbus Data Output Unit


First data output

(3)

(5)

(7)

(8)

(9)

Trigger signal

Second data output



88

Saving All of the Measurement ResultsIf you output data from more than one Data Output Unit or for repeatedly measured output data (e.g., for continuous measurements), the same Data Output Area will be overwritten.To save all of the output data, adjust the output period and output time that are set in the EtherCAT settings so that all of the output data is output and either receive all of the output data by using the Result Notification signal or use handshaking control.Handshaking lets you control data output by using the Result Notification signal turning ON as a trigger for the data output timing and turning ON the Result Set Request to read the output data.Each time that data is output (from the second output on), read the output data and move it to a different part of I/O memory in the PLC.Refer to Data Output Control with Handshaking (p.27) for more information on handshaking.

You can compare the received number of output data and the number of measurements for continuous measurements to check if all of the measurement results have been received.Use the following method to check the number of measurements that was actually executed.• Application Example

Set a calculation to count the number of measurements that are executed in the measurement flow.If you set something like [DO+1], each time a measurement is executed (each time the measurement flow is executed), 1 will be added to DO, so the present value of DO will give you the actual number of measurements.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

EtherCAT Troubleshooting

Cannot Communicate with Sensor Controller

A Timeout Error Occurred

Problem Cause Action

There is absolutely no data I/O.

The node address is set incorrectly.Check the node address setting switches to see if they are set correctly.

The devices are not connected correctly.Make sure that the EtherCAT connectors (input and output) are connected correctly.

The Output Option is not selected in the Adjustment Window.

Select the Output Option in the Adjustment Win-dow.


A handshaking timeout error occurred.

The Result Set Request signal is being turned ON and OFF too slowly. The following patterns are possible.• The Result Set Request signal does not

turn ON after a measurement is completed.

• The Result Set Request signal does not turn OFF after the Result Notification signal turns ON.

• The Result Set Request signal does not turn ON after the Result Notification signal turns OFF.

After the measurement command is executed, turn the Result Set Request signal ON and OFF within the timeout time that is set in the Ether-CAT communications settings.Or, increase the length of the timeout time that is set in the EtherCAT settings.

Errors that occur in the EtherCAT system, including sensor errors, are displayed as a Sysmac error status in Sysmac Studio (Standard Edition).Refer to the Sysmac Error Status (p.90).

Note



90

Sysmac Error StatusThe Sysmac Studio Standard Version displays errors that occur in the EtherCAT system (including Sensor errors) as Sysmac error status.

Sysmac Error Status Event Code Table

This section describes Sysmac error status event codes that are related to the sensor. Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for details on event codes.Levels: Maj: Major fault level, Par: Partial fault level, Min: Minor fault level, Obs: Observation, Info: Information

Event code Event name Meaning Assumed causeLevel*1

ReferenceMaj Prt Min Obs Infor

08210000 hexFan/Power Sup-ply Error

An error occurred in the fan or power supply.

• A foreign object is interfering with fan operation.

• A suitable power supply voltage is not being used, resulting in an overvoltage or undervoltage.

√Reference:

(p.95)

08220000 hexCamera Overcur-rent Detected

An overcurrent flowed to the Camera.

• There is a short circuit inside the Camera cable or in a circuit inside the Controller.

√Reference:

(p.95)

08230000 hexParallel I/O Over-current Detected

An overcurrent occurred in the parallel I/O interface.

• A parallel I/O interface line is short-circuited.

√Reference:

(p.96)

182D0000 hexSetting Data Load Error

Loading the scene group data failed.

• The data is corrupted because the power supply was turned OFF while saving the previous scene data.

• As the result of changing the operation mode, the required amount of memory increased, resulting in insufficient memory.

√Reference:

(p.96)

385A0000 hexChange in Con-nected Camera

The Camera that is connected is different from when data was last saved.

• The Camera connection information in the scene data does not agree with the connection information for the Camera connected to the Controller.

√Reference:

(p.97)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

38590000 hexCamera Connec-tion Error

The Camera connec-tion is wrong.

• A Camera is not connected to the Controller.

• The Camera cable is broken.

• The Camera Selection settings are not correct in the Camera Image Input and Camera Switching processing items.

• A Camera is not connected to the Camera port on the Controller according to the Camera Selection settings in the Camera Image Input and Camera Switching processing items.

√Reference:

(p.98)

48020000 hex System ErrorAn error occurred in the system.

• A serious error occurred in the system in the Controller.

√Reference:

(p.98)

58210000 hex

Output Control Timeout for Par-allel I/O, PLC Link, or EtherNet/IP

A timeout occurred in data output handshak-ing control for measure-ment results.

• The data output handshaking controls in the program (i.e., the ON/OFF timing of the Result Set Request signal) are not correct.

• The output control timeout time is too short in comparison with the program processing time.

• The parallel I/O Result Set Request or Result Notification signal is not wired correctly.

√Reference:

(p.99)

58220000 hexOutput Control Timeout for EtherCAT

A timeout occurred in data output handshak-ing control for measure-ment results.

• The data output handshaking controls in the program (i.e., the ON/OFF timing of the Result Set Request signal) are not correct.

• The output control timeout time is too short in comparison with the program processing time.

√Reference:

(p.100)

78190000 hexImage Logging Disk Write Error

Writing data to the image logging disk failed.

• A logging disk is not inserted.

• The available space on the logging disk is not sufficient.

• There is no logging folder.

• Security restrictions are set on the logging disk.

√Reference:

(p.100)





92

*1: Major Fault Level• These errors prevent control operations for the entire Controller. If a major fault level error is detected, user program execution is

stopped immediately and the loads for all slaves (including remote I/O) are turned OFF. You cannot reset major fault level errors from the user program, the Sysmac Studio, or an NS-series PT. To recover from a major fault level error, remove the cause of the error, and either cycle the power supply to the Controller or reset the Controller from the Sysmac Studio.

• Partial Fault LevelThese errors prevent control operations in a certain function module in the Controller. The NJ-series CPU Unit continues to execute the user program even after a partial fault level error occurs. After you remove the cause of the error, execute one of the following to return to normal status.•Reset the error from the user program, the Sysmac Studio, or an NS-series PT.•Cycle the power supply to the Controller.•Reset the Controller from the Sysmac Studio.

• Minor Fault LevelThese errors prevent part of the control operations in a certain function module in the Controller. The troubleshooting for minor fault level errors is the same as the processing for partial fault level errors.

• ObservationsThese errors do not affect the control operations of the Controller. Observations serve as warnings to the user so that the error does not develop into an error at a higher level.

• InformationEvents that are classified as information do not indicate errors.

781A0000 hexSetting Data Transfer Error

An error occurred while transferring the scene data.

• Scene data was edited when there was little available space on the RAM disk and the operation mode was Single- line High-speed Mode.

• The data transfer button was clicked when there was little available space on the RAM disk and the operation mode was Non-stop Adjustment Mode.

√Reference:

(p.101)

781B0000 hexOutput Buffer Error (EtherCAT)

The data output buffer for measurement data is full.

• Data measurements are being performed on a period that is shorter than the time that is required for data output handshake controls in the program.

√Reference:

(p.101)

88080000 hexPLC Link Com-munications Error

A PLC Link cannot be established.

• There is a mistake in the PLC or Vision Sensor communications settings.

• The Ethernet or RS-232C cable is damaged.

√Reference:

(p.102)




2

Methods for C

onnecting and Com

municating w

ith External D

evices

Checking Sysmac Error Status

You can use the troubleshooting functions of the Sysmac Studio Standard Version to check the Sysmac error status. Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for information on troubleshooting functions.

1 Select [Troubleshooting] from the Tools Menu while online. You can also click the [Troubleshooting] button in the toolbar.The Troubleshooting Dialog Box is displayed.

2 Click the [Controller Errors] tab.A list of the current Sysmac error status and corresponding event codes will be displayed.

Clearing the Sysmac Error Status

1 Remove the cause of the error and then click the [Reset All] button on the [Controller Errors] tab page of the [Troubleshooting] pane.

Even if you reset the Sysmac error status, the error log will remain in the logs on the [Controller Event Log] tab.

Note



94

Error Details

This section provides details on errors.

Interpreting Error DescriptionsThe items that are used to describe individual errors (events) are described in the following copy of an error table.

*1: One of the following:Major fault: Major fault levelPartial fault: Partial fault levelMinor fault: Minor fault levelObservationInformation

*2: One of the following:Automatic recovery: Normal status is restored automatically when the cause of the error is removed.Error reset: Normal status is restored when the error is reset after the cause of the error is removed.Cycle the power supply: Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed.Controller reset: Normal status is restored when the Controller is reset after the cause of the error is removed.Depends on cause: The recovery method depends on the cause of the error.

*3: One of the following:System: System event logAccess: Access event log

*4: One of the following:Continues: Execution of the user program will continue.Stops: Execution of the user program stops.Starts: Execution of the user program starts.

Event name Gives the name of the error. Event code Gives the code of the error.

Meaning Gives a short description of the error.

Source Gives the source of the error. Source detailsGives details on the source of the error.

Detection timing Tells when the error is detected.

Error attributes LevelTells the level of influence on con-trol.*1

Recovery Gives the recov-ery method.*2 Log category

Tells which log the error is saved in.*3

Effects User program

Tells what will happen to execu-tion of the user program.*4

Operation Provides special information on the operation that results from the error.

Indicators This is the status of the indicators for the EtherCAT port that is built into the NJ-series Controller. Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.

System-defined variables

Variable Data type Name

Lists the variable names, data types, and meanings for system-defined variables that provide direct error notifica-tion, that are directly affected by the error, or that contain settings that cause the error.

Cause and correction

Assumed cause Correction Prevention

Lists the possible causes, corrections, and preventive measures for the error.

Attached information This is the attached information that is displayed by the Sysmac Studio or an NS-series PT.

Precautions/Remarks Provides precautions, restrictions, and supplemental information.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Error Descriptions

Event name Fan/Power Supply Error Event code 08210000 hex

Meaning An error occurred in the fan or power supply.

Source EtherCAT Master Function Module Source details Slave Detection timing Always at startup

Error attributes Level Minor fault RecoveryError reset (after resetting the error in the slave)

Log category System

Effects User program Continues. Operation All slave functionality stops until the problem is corrected.

IndicatorsEtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT

--- --- ---



None --- ---



A foreign object is interfering with fan operation.

Turn OFF the power supply, remove the object interfering with fan opera-tion, and turn the power supply back ON.

Make sure that there are no foreign objects interfering with fan operation.

A suitable power supply voltage is not being used, resulting in an overvoltage or undervoltage.

Turn OFF the power supply, replace the power supply with one with a suit-able voltage, and turn the power sup-ply back ON.

Use a power supply with a suitable voltage.

Attached information None

Precautions/Remarks

If the problem persists after performing the corrections, a hardware failure may have occurred. Consult your OMRONrepresentative.

Event name Camera Overcurrent Detected Event code 08220000 hex

Meaning An overcurrent flowed to the Camera.


Error attributes Level Minor fault RecoveryError reset (afterresetting the errorin the slave)

Log category System

Effects User program Continues. OperationThe Camera image will not be input, so measurements will be performed on invalid images. This may result in the out-put of unintentional measurement results.


--- --- ---



None --- ---



There is a short circuit inside the Cam-era cable or in a circuit inside the Con-troller.

Consult your OMRON representative. Consult your OMRON representative.


Precautions/Remarks None



96

Event name Parallel I/O Overcurrent Detected Event code 08230000 hex

Meaning An overcurrent occurred in the parallel I/O interface.



Log category System

Effects User program Continues. Operation You cannot output measurement results to an external device with parallel I/O.


--- --- ---



None --- ---



A parallel I/O interface line is short-cir-cuited.

Turn OFF the power supply and check the parallel I/O connections.

Wire the parallel I/O lines so that they do not become short-circuited.



Event name Setting Data Load Error Event code 182D0000 hex

Meaning Loading the scene group data failed.

Source EtherCAT Master Function Module Source details Slave Detection timing After turning ON slave power


Log category System

Effects User program Continues. OperationThe Controller will start with the default scene group data.If the data is saved to the Controller in this condition, the previous scene group data will be overwritten.


--- --- ---



None --- ---



The data is corrupted because the power supply was turned OFF while saving the previous scene data.

Reset the scene to switch to.Do not turn OFF the power supply dur-ing save processing for the scene data.

As the result of changing the operation mode, the required amount of memory increased, resulting in insufficient memory.

Change the measurement flow to reduce memory usage.

Change the measurement flow to reduce memory usage.




2

Methods for C

onnecting and Com

municating w

ith External D

evices

Event name Change in Connected Camera Event code 385A0000 hex

Meaning The Camera that is connected is different from when data was last saved.

Source EtherCAT Master Function Module Source details Slave Detection timing After turning ON slave power


Log category System

Effects User program Continues. OperationThe Camera image can be input, but an unintentional num-ber of Camera pixels, color, or monochrome information may be measured.


--- --- ---



None --- ---



The Camera connection information in the scene data does not agree with the connection information for the Cam-era connected to the Controller.

Connect a Camera that agrees with the Camera connection information in the scene data or edit the scene data according to the connection informa-tion for the Camera connected to the Controller.

Make sure that the Camera connection information in the scene data agrees with the connection information for the Camera connected to the Controller.


Precautions/Remarks

This error will occur if you load system and scene group 0 data (bkd file) that was edited with simulation software to the Controller. Save the data to the Controller and restart the Controller.



98

Event name Camera Connection Error Event code 38590000 hex

Meaning The Camera connection is wrong.



Log category System

Effects User program Continues. OperationThe Camera image will not be input, so measurements will be performed on invalid images. This may result in the out-put of unintentional measurement results.


--- --- ---



None --- ---



A Camera is not connected to the Con-troller.

Turn OFF the power supply, correctly connect a Camera to the Controller, and turn the power supply back ON.

Correctly connect a Camera to the Controller and tighten the screws.

The Camera cable is broken.Turn OFF the power supply, replace the Camera cable with a new one, and turn the power supply back ON.

Use a flexible cable or take other mea-sures to prevent the Camera cable from becoming broken.

The Camera Selection settings are not correct in the Camera Image Input and Camera Switching processing items.

Make suitable settings according to the connected Cameras.

Make suitable settings according to the connected Cameras.

A Camera is not connected to the Camera port on the Controller accord-ing to the Camera Selection settings in the Camera Image Input and Camera Switching processing items.

Turn OFF the power supply, connect a Camera to the suitable Camera port, and turn the power supply back ON.

Connect a Camera to the suitable Camera port.



Event name System Error Event code 48020000 hex

Meaning An error occurred in the system.



Log category System

Effects User program Continues. Operation All slave functionality stops, and measurement trigger sig-nals and commands are not acknowledged.


--- --- ---



None --- ---



A serious error occurred in the system in the Controller. Consult your OMRON representative. Consult your OMRON representative.




2

Methods for C

onnecting and Com

municating w

ith External D

evices

Event name Output Control Timeout for Parallel I/O, PLC Link, or Ether-Net/IP Event code 58210000 hex

Meaning A timeout occurred in data output handshaking control for measurement results.

Source EtherCAT Master Function Module Source details Slave Detection timing At measurement result output


Log category System

Effects User program Continues. Operation The most recent measurement results data will be cor-rupted.


--- --- ---



None --- ---



The data output handshaking controls in the program (i.e., the ON/OFF tim-ing of the Result Set Request signal) are not correct.

Correct the data output handshaking controls in the program (i.e., the ON/OFF timing of the Result Set Request signal).

Create suitable data output handshak-ing controls in the program (i.e., the ON/OFF timing of the Result Set Request signal).

The output control timeout time is too short in comparison with the program processing time.

Correct the timeout time so that it is suitable for the program processing time.

Set the timeout time so that it is suit-able for the program processing time.

There is a wiring mistake in the parallel I/O DSA or GATE signal.

Turn OFF the power supply, correctly wire the parallel I/O DSA or GATE sig-nal, and restart the Unit.

Correctly wire the parallel I/O DSA or GATE signal.


Precautions/Remarks

This error occurs when measurement results are output on the parallel I/O, PLC Link, or EtherNet/IP. For EtherCAT, refer to the Output Control Timeout for EtherCAT event.



100

Event name Output Control Timeout for EtherCAT Event code 58220000 hex

Meaning A timeout occurred in data output handshaking control for measurement results.

Source EtherCAT Master Function Module Source details Slave Detection timing At measurement result output


Log category System

Effects User program Continues. OperationData is not output to the EtherCAT master and it is stored in the Sensor. When the Result Set Request signal turns ON, the stored data is output to the EtherCAT master.


--- --- ---



None --- ---



The data output handshaking controls in the program (i.e., the ON/OFF tim-ing of the Result Set Request signal) are not correct.

Correct the data output handshaking controls in the program (i.e., the ON/OFF timing of the Result Set Request signal).

Write suitable data output handshak-ing controls in the program (i.e., the ON/OFF timing of the Result Set Request signal).

The output control timeout time is too short in comparison with the program processing time.

Correct the timeout time so that it is suitable for the program processing time.

Set the timeout time so that it is suit-able for the program processing time.


Precautions/Remarks

This error occurs when measurement results are output on EtherCAT. For parallel I/O, PLC Link, or EtherNet/IP, refer to the Output Control Timeout for Parallel I/O, PLC Link, or EtherNet/IP event.

Event name Image Logging Disk Write Error Event code 78190000 hex

Meaning Writing data to the image logging disk failed.

Source EtherCAT Master Function Module Source details Slave Detection timing When logging images


Log category System

Effects User program Continues. Operation Logging images will not be possible until the problem is corrected.


--- --- ---



None --- ---



A logging disk is not inserted. Insert a logging disk. Insert the logging disk so that it will not come out.

The available space on the logging disk is not sufficient.

Delete unnecessary files from the log-ging disk or otherwise increase the available space.

Delete unnecessary files from the log-ging disk or otherwise increase the available space.

There is no logging folder. Create the logging folder or change the logging folder.

Create the logging folder or change the logging folder.

Security restrictions are set on the log-ging disk.

Clear the security restrictions on the logging disk.

Clear the security restrictions on the logging disk.


Precautions/Remarks

This event occurs for disk writing errors for image logging. There is no event that occurs for disk writing errors for data logging.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Event name Setting Data Transfer Error Event code 781A0000 hex

Meaning An error occurred while transferring the scene data.

Source EtherCAT Master Function Module Source details Slave Detection timing After editing scene data


Log category System

Effects User program Continues. Operation Measurements will be performed without using the edited scene data.


--- --- ---



None --- ---



Scene data was edited when there was little available space on the RAM disk and the operation mode was Sin-gle-line High-speed Mode.

Clean up the contents of the RAM disk to create more available space.

Always make sure there is sufficient available space on the RAM disk for the current size of scene group data.

The data transfer button was clicked when there was little available space on the RAM disk and the operation mode was Non-stop Adjustment Mode.

Clean up the contents of the RAM disk to create more available space.

Always make sure there is sufficient available space on the RAM disk for the current size of scene group data.


Precautions/Remarks

The RAM disk is used as a buffer when the operation mode is Single-line High-speed Mode or Non-stop Adjustment Mode. Always ensure that there is enough available space for the current size of the scene group data.

Event name Output Buffer Error (EtherCAT) Event code 781B0000 hex

Meaning The data output buffer for measurement data is full.

Source EtherCAT Master Function Module Source details Slave Detection timing At measurementresult output


Log category System

Effects User program Continues. OperationThe most recent measurement results data will be cor-rupted until there is space available in the data output buffer.


--- --- ---



None --- ---



Data measurements are being per-formed on a period that is shorter than the time that is required for data output handshake controls in the program.

Correct the program so that the period for performing measurements is slower than the time that is required for data output handshaking controls.

Write the program so that the period for performing measurements is slower than the time that is required for data output handshaking controls.


Precautions/Remarks

The EtherCAT measurement result data buffer is 4 KB. If the size for one field bus data output processing unit is 32 bytes (eight DINT data items), the buffer can store data for up to 127 measurements.



102

Event name PLC Link Communications Error Event code 88080000 hex

Meaning A PLC Link cannot be established.



Log category System

Effects User program Continues. Operation You cannot control the Vision Sensor with the PLC Link.


--- --- ---



None --- ---



There is a mistake in the PLC or Vision Sensor communications settings.

Correct the communications settings in the PLC or Vision Sensor.

Correct the communications settings in the PLC or Vision Sensor.

The Ethernet or RS-232C cable is damaged.

Replace the Ethernet or RS-232C cable with a new one.

Use a flexible cable or take other mea-sures to prevent the Ethernet or RS-232C cable from becoming broken.


Precautions/Remarks You can download the PLC Link Connection Guide from your OMRON website.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Sysmac Device FeaturesThe control device product designed according to standardized communications and user interface specifications for OMRON control devices are called a Sysmac Device.And the features available with such a Device is called Sysmac Device Features.This section describes the features the FH series Vision Sensor provides when combined with a Machine Automation Controller such as NJ series and automation software.

Sysmac Error Status

Because, in Sysmac Devices, errors that may occur in slaves are systematized, you can check the causes and remedies for errors with a common procedure.The status of an error can be monitored in the Sysmac Error Status (2002-01 hex). To display the error status detected by the FH series Vision Sensor in Sysmac Studio, the Sysmac Error Status (2002-01 hex) must be mapped to the PDO. Sysmac Studio, by default, uses the 512th transmit PDO Mapping assignment to map the Sysmac Error Status (2002-01 hex) automatically to the PDO.

Saving the Node Address Setting

When the node address switch setting is “00” (Software Setup mode), the node address value you set in Sysmac Studio is enabled. If the node address switches are set to any other value, the value that is set on the switches is used as the node address.In the Software Setup mode, in Sysmac Studio, execute [Write Slave Node Address] on the [EtherCAT Edit] screen to save the slave node address setting in the nonvolatile memory of the FH series Vision Sensor.

• Software SettingThe set value saved as Slave Information Interface (SII) information in the nonvolatile memory of the slave is the node address.

• For the Sysmac Error status (2002-01 hex), refer to Object Dictionary Area (p.105).• For errors displayed in Sysmac Studio, refer to NJ-series Troubleshooting Manual (Cat. No. W503-E1-07 or later).

Note

SII

(1)

(2)

(3)

(4) (5)

Node AddressSwitch

(1) The Node Address Switch is set to “00” atpower OFF.

(2) Write a node address set value to Slave SIIfrom the master.

(3) The value of the node address setting is appliedto Register: 0012 hex by the software, when theslave power is ON.

(4) EtherCAT master reads the set value ofRegister: 0012 hex.

(5) EtherCAT master writes the value of 0012 hexaddress to 0010 hex address as the nodeaddress value.EtherCAT Slave

Register : 0010h

Register : 0012h

EtherCATSlave Controller

EtherCAT master

Nonvolatilememory



104

• Node Address Switch SettingThe value set on the node address switches is the node address.

Serial Number Display

The serial number saved in the nonvolatile memory of the Vision Sensor is displayed in the Serial Number (1018-04 hex). Controllers that support Sysmac Device Features can use this serial number to check the network configuration. To enable this check, in Sysmac Studio, set [Serial No. Check Condition] to [Set Value = Actual Unit] on the [EtherCAT Edit] screen. If the set condition is not met, a Network Configuration Check Error will occur.

Compliance with ESI Specification (ETG.2000 S (R) V1.0.1)

The ESI Specification is a set of specifications that define the entries required in an EtherCAT Slave Information (ESI) file.

SII Data Check

The Slave Information Interface (SII) is an interface area in the nonvolatile memory of an EtherCAT slave that stores the configuration information specific to that EtherCAT slave.Sysmac Device EtherCAT slaves check the SII information from the slave side.If one of these slaves finds that SII information with which it cannot operate was written, it generates an SII Check Error (Error No. 88.3).If this error persists even after turning OFF and then ON the power again, contact your OMRON sales representative.

The network configuration check detects any slave devices that have been replaced, which prevents you from forgetting to set parameters on those slaves.

Do not use third-party or any other configuration tools to edit the SII information.

SII

(1)

(2)

(3) (4)

Node AddressSwitch

(1) The Node Address Switch is set at power OFF.(2) The value of Node Address Switch is applied to

Register: 0012 hex, when the slave power is ON.(3) EtherCAT master reads the set value of

Register: 0012 hex.(4) EtherCAT master writes the value of 0012 hex

address to 0010 hex address as the nodeaddress value.

EtherCAT Slave

Register : 0010h

Register : 0012h

EtherCATSlave Controller

EtherCAT master

Nonvolatilememory

Note

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Object DictionaryThe CAN application protocol over EtherCAT (CoE) protocol is based on the object dictionary of the CAN application protocol. This section describes the object dictionary and each object.

Object Dictionary Area

Each object is assigned with an index of four-digit hexadecimal value. The indexes are configured in the areas below.

Data Types

This profile uses the following data types.

Indexes Area Contents

0000 hex to 0FFF hex Data Type area Definitions of data types

1000 hex to 1FFF hex CoE Communications areaDefinitions of variables that can be used by all servers for desig-nated communications

2000 hex to 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products

3000 hex to 5FFF hex Manufacturer Specific area 2 Variables defined for FH series EtherCAT Slave Units

6000 hex to 6FFF hex Input Area Objects mapped to transmit PDOs

7000 hex to 7FFF hex Output Area Objects mapped to receive PDOs

8000 hex to 8FFF hex Configuration Area Objects for configurations and settings

9000 hex to 9FFF hex Information Area Not used. (Not supported.)

A000 hex to AFFF hex Diagnosis Area Not used. (Not supported.)

B000 hex to BFFF hex Send Service Area Not used. (Not supported.)

C000 hex to EFFF hex Reserved area Area reserved for future use

F000 hex to FFFFH hex Device Profile area Parameters that belong to devices

Data Types Code Size Range

Boolean BOOL 1 bit true(1), false(0)

Unsigned8 U8 1 byte 0 to 255

Unsigned16 U16 2 bytes 0 to 65535

Unsigned32 U32 4 bytes 0 to 4294967295

Integer8 INT8 1 byte −128 to 127

Integer16 INT16 2 bytes −32768 to 32767

Integer32 INT32 4 bytes −2147483648 to 2147483647

Visible string VS --- ---

Double Double 8 bytes −1.79769313486231e+308 to 1.79769313486231e+308



106

Object Description Format

In this manual, objects are described in the following format.

Object description format

Object description format with sub-indexes

The following values are indicated within the pointed brackets <>.

<Index> <Object name>

Range: <Setting range> Unit: <Unit> Default: <Default setting> Attribute: <Data attribute>

Size: <Size> Access: <Access> PDO map: <Possible/Not possible>

<Index> <Object name>

Sub-index 0



² ² ²

Sub-index N



• Indexes : An object index given by a four-digit hexadecimal number

• Object name : The object name

• Range : The possible range of settings

• Unit : Physical unit

• Default : Default value set before product shipment

• Attribute : The timing when a change is updated in a writable objectA: Always enabledB: Timing of count stop → operation (Encoder Input Slave Unit only)C: Timing of pre-operational state → safe-operational stateD: Timing of pre-operational state → init stateR: Updated after the power supply is reset-: Read only

• Size : The object size is given in bytes

• Access : Indicates whether the object is read only, or read and writeRO: Read onlyRW: Read and write

• PDO map : Indicates the PDO mapping possibility


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communication Objects

• The FH series Vision Sensors do not have a device profile.

• Indicates the error type that occurs in a Slave Unit.

• Indicates the Slave Unit model number.

• Indicates the version of the Slave Unit hardware.

• Indicates the version of the Slave Unit software

*1: The default settings for the manufacture device name, manufacture hardware version, and manufacture software version are shown below for each slave.

* : The software version refers to the version displayed in the [System information] dialog box.

1000 hex Device Type

Range: − Unit: − Default: 00000000 hex Attribute: −

Size: 4 bytes (U32) Access: RO PDO map: Not possible

1001 hex Error Register


Size: 1 byte (U8) Access: RO PDO map: Not possible

Bits Name Bits Name

0 Generic error 4 Communications error

1 Current error 5 Device profile specific error

2 Voltage error 6 (Reserved)

3 Temperature error 7 Manufacturer specific error

1008 hex Manufacturer Device Name

Range: − Unit: − Default: Differ by Slave Unit types*1 Attribute: −

Size: 20 bytes (VS) Access: RO PDO map: Not possible

1009 hex Manufacturer Hardware Version



100A hex Manufacturer Software Version



Slave Manufacture device name Manufacture hardware version Manufacture software version

FH-1050FH-1050-10FH-1050-20FH-3050FH-3050-10FH-3050-20

FH-1050FH-1050-10FH-1050-20FH-3050FH-3050-10FH-3050-20

V1.00 fifteen spaces (20 hex)(Fifteen space characters are filled after the hardware version "V1.00")

V5.XX(The FH/FZ5 software version*, which con-sists of nineteen characters, follows after let-ter "V". If the length of the software version string is less than nineteen characters, spaces (20 hex) are filled until the version string length becomes nineteen.)



108

• Resets the parameters to their default values.• The parameter is reset only when a specific value is written to sub-index 1. This prevents parameter values

from being accidentally overwritten.• The specific value is "load".

• The ABORT code is displayed if a value other than the specific is written.• A value 0000 0001 hex (command valid) is indicated when reading.• The FH series Vision Sensors do not support this parameter.

• Indicates the device information.• Sub-index 1(Vendor ID) gives the manufacturer identifier.• Sub-index 2 (Product Code) gives the value assigned to each Slave Unit type.• Sub-index 3 (Revision Number) gives the Unit revision number.• Bits 0 to 15: Minor revision number of the device• Bits 16 to 31: Major revision number of the device• Sub-index 4 (Serial Number) gives a serial number for each product.

1011 hex Restore Default Parameters

Sub-index 0: Number of entries



Sub-index 1: Restore Default Parameters

Range: − Unit: − Default: 00000001 hex Attribute: A

Size: 4 bytes (U32) Access: RW PDO map: Not possible

MSB LSB

d a o l

64 hex 61 hex 6F hex 6C hex

1018 hex Identity Object




Sub-index 1: Vendor ID



Sub-index 2: Product Code

Range: − Unit: −Default: Differ by Slave Unit types*1 Attribute: −


Sub-index 3: Revision Number

Range: − Unit: −Default: Differ by Slave Unit types*1 Attribute: −


Sub-index 4: Serial Number

Range: − Unit: − Default: Each Unit Attribute: −



2

Methods for C

onnecting and Com

municating w

ith External D

evices

*1: The values of sub-index 2 (Product Code) and sub-index 3 (Revision Number) of the Identity Object are indicated below for each slave.

• This object indicates up to 8 diagnosis histories. It also sets whether to notify emergency messages or not.• . Sub-index 1 (Maximum Messages) gives the number of error messages.• . Sub-index 2 (Newest Messages) gives the sub-index number the latest message in the diagnosis history.• . Sub-index 5 (Flags) is the control flag of diagnosis history. It specifies whether or not to notify error

messages via emergency messages. Setting 0001 hex means to notify. It is set to 0001 hex (Emergency notify) when power is turned ON. At startup, the setting is 0000 hex (no emergency notification).

• . Sub-indexes 6 to 13 (Diagnosis messages 1 to 8) indicate the diagnosis history.From sub-index 6 (Diagnosis message 1) to sub-index 13 (Diagnosis message 8) are stored 8 errors. The 9th error and onward are stored from the sub-index 6 (Diagnosis message 1) again.

• . The FH series Vision Sensors support only the flags.

Slave Product Code(hex) Revision Number(hex)

FH-1050 000000A0 00010000

FH-1050-10 000000A1 00010000

FH-1050-20 000000A2 00010000

FH-3050 000000A3 00010000

FH-3050-10 000000A4 00010000

FH-3050-20 000000A5 00010000

10F3 hex Diagnosis History


Range: − Unit: − Default: 0D hex Attribute: −


Sub-index 1: Maximum Messages



Sub-index 2: Newest Message

Range: − Unit: − Default: − Attribute: −


Sub-index 5: Flags



Sub-index 6 to 13: Diagnosis Message 1-8

Range: − Unit: − Default: − Attribute: −




110

PDO Mapping Object

Indexes 1600 hex to 17FF hex are used for Receive PDO mapping, and indexes 1A00 hex to 1BFF hex are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application object being mapped.

• This object gives the mapping for an application that uses vision sensor functions.• 7000 hex (Vision Control Flag) is mapped in 1 bytes.

31 16 15 8 7 0

IndexesSub

IndexesBit length

MSB LSB

Bits 0 to 7 : Bit length of the mapped object.(For example, for 32 bits, 20 hex is given.)

Bits 8 to 15 : Sub-index of the mapped object.

Bits 16 to 31 : Index of the mapped object.

1600 hex 1st receive PDO Mapping

Sub-index0: Number of objects

Range: − Unit: − Default: 32 hex


Sub-index1-32: 1st-32nd Output Object to be mapped

Range: − Unit: −Default: 70000101/70000201/70000901/70001001/70001101 hex



2

Methods for C

onnecting and Com

municating w

ith External D

evices

• This object gives the mapping for an application that uses vision sensor functions.• 7001 hex(Vision Command)• 7002 hex(Vision Command Parameter1-3)

Objects are provided for each line as shown below when more than one line is used.Line 1:1620 hex (1st receive PDO mapping) and 1621 hex (2nd receive PDO mapping)Line 2:1640 hex (1st receive PDO mapping) and 1641 hex (2nd receive PDO mapping)Line 3:1660 hex (1st receive PDO mapping) and 1661 hex (2nd receive PDO mapping)Line 4:1680 hex (1st receive PDO mapping) and 1681 hex (2nd receive PDO mapping)Line 5:16A0 hex (1st receive PDO mapping) and 16A1 hex (2nd receive PDO mapping)Line 6:16C0 hex (1st receive PDO mapping) and 16C1 hex (2nd receive PDO mapping)Line 7:16E0 hex (1st receive PDO mapping) and 16E1 hex (2nd receive PDO mapping)

1601 hex 2nd receive PDO Mapping




Sub-index1: 1st Output Object to be mapped



Sub-index2: 2nd Output Object to be mapped



Sub-index3: 3rd Output Object to be mapped



Sub-index4: 4th Output Object to be mapped



Sub-index5: 5th Output Object to be mapped





112

• This object gives the mapping for an application that uses vision sensor functions.• 6000h (Vision status Flag) is mapped in 1 bytes.

• This object gives the mapping for an application that uses vision sensor functions.• 6001 hex (Echoback Command)• 6002 hex (Response Code)• 6003 hex (Response Data)

• This object gives the mapping for an application that uses vision sensor functions.• 6004 hex (Error Code)

1A00 hex 1st transmit PDO Mapping




Sub-index1-32: 1st-32nd Input Object to be mapped

Range: − Unit: −

Default: 60000101/60000201/60000301/60000401/60000501/60000601/60000701/60000801/60000901/60000A01/60000B01/60001001/60001101 hex


1A01 hex 2nd transmit PDO Mapping




Sub-index1: 1st Input Object to be mapped



Sub-index2: 2nd Input Object to be mapped



Sub-index3: 3rd Input Object to be mapped



1A02 hex 3rd transmit PDO Mapping








2

Methods for C

onnecting and Com

municating w

ith External D

evices

• This object gives the mapping for an application that uses vision sensor functions.• 6005 hex (Image Processing Results Integer Data)

1A04 hex 5th transmit PDO Mapping













Sub-index4: 4th Input Object to be mapped

















114

































Range: − Unit: − Default: 60050A20 hex



Range: − Unit: − Default: 60050B20 hex



Range: − Unit: − Default: 60050C20 hex



Range: − Unit: − Default: 60050D20 hex



2

Methods for C

onnecting and Com

municating w

ith External D

evices



Range: − Unit: − Default: 60050E20 hex



Range: − Unit: − Default: 60050F20 hex







116













































2

Methods for C

onnecting and Com

municating w

ith External D

evices













































118


















2

Methods for C

onnecting and Com

municating w

ith External D

evices
































Sub-index10:10th Input Object to be mapped











120












































2

Methods for C

onnecting and Com

municating w

ith External D

evices













































122












































2

Methods for C

onnecting and Com

municating w

ith External D

evices


































124

• This object gives the mapping for an application that uses vision sensor functions.• 6006 hex (Image Processing Results Real Data)


















2

Methods for C

onnecting and Com

municating w

ith External D

evices
































126

1A0A hex 11th transmit PDO Mapping












































2

Methods for C

onnecting and Com

municating w

ith External D

evices













128

1A0B hex 12th transmit PDO Mapping












































2

Methods for C

onnecting and Com

municating w

ith External D

evices













































130


















2

Methods for C

onnecting and Com

municating w

ith External D

evices

• This object gives the mapping for an application that uses vision sensor functions.• 6005 hex (Image Processing Results Integer Data)• 6006 hex (Image Processing Results Real Data)

1A0C hex 13th transmit PDO Mapping





















132


1A0D hex 14th transmit PDO Mapping



































2

Methods for C

onnecting and Com

municating w

ith External D

evices

1A0E hex 15th transmit PDO Mapping













































134
























2

Methods for C

onnecting and Com

municating w

ith External D

evices

1A0F hex 16th transmit PDO Mapping













































136












































2

Methods for C

onnecting and Com

municating w

ith External D

evices











































138

Objects are provided for each line as shown below when more than one line is used.Line 1:1A20 hex (1st transmit PDO mapping) and 1A21 to 1A2F hex (2nd to 16th transmit PDO mapping)Line 2:1A40 hex (1st transmit PDO mapping) and 1A41 to 1A4F hex (2nd to 16th transmit PDO mapping)Line 3:1A60 hex (1st transmit PDO mapping) and 1A61 to 1A6F hex (2nd to 16th transmit PDO mapping)Line 4:1A80 hex (1st transmit PDO mapping) and 1A81 to 1A8F hex (2nd to 16th transmit PDO mapping)Line 5:1AA0 hex (1st transmit PDO mapping) and 1AA1 to 1AAF hex (2nd to 16th transmit PDO mapping)Line 6:1AC0 hex (1st transmit PDO mapping) and 1AC1 to 1ACF hex (2nd to 16th transmit PDO mapping)Line 7:1AE0 hex (1st transmit PDO mapping) and 1AE1 to 1AEF hex (2nd to 16th transmit PDO mapping)

• This object gives the mapping for notification of errors that are detected in the Slave Unit.• The mapping includes 2002 hex-01 hex (Sysmac Error Status).• When connected to an NJ-series Machine Automation Controller, 1C13 hex (Sync manager 3 PDO

assignment) is assigned to this object.• This object is automatically assigned in the default settings of the Sysmac Studio.

1BFFh 512th transmit PDO Mapping

Sub-index0: Number of objects in this PDO




Range:: − Unit: − Default: 20020108 hex Attribute: −



2

Methods for C

onnecting and Com

municating w

ith External D

evices

Sync Manager Communication Object

The communication memory of EtherCAT is set by the objects from 1C00 hex to 1C13 hex.

• The sync manager has the following settings.• SM0: Mailbox receive (EtherCAT Master Unit to Slave Unit)• SM1: Mailbox transmit (EtherCAT Slave Unit to Master Unit)• SM2: Process data output (EtherCAT Master Unit to Slave Unit)• SM3: Process data input (EtherCAT Slave Unit to Master Unit)

• It indicates the number of PDO mappings used by this sync manager.• Mailbox reception sync manager does not have PDOs.

• It indicates the number of PDO mappings used by this sync manager.• Mailbox transmit sync manager does not have PDOs.

1C00 hex Sync Manager Communication Type

Sub-index 0: Number of used SM channels



Sub-index 1: Communication Type Sync Manager 0












1C10 hex Sync Manager 0 PDO Assignment

Sub-index 0: Number of assigned PDOs

Range: 00 hex Unit: − Default: 00 hex Attribute: −




Range: 00 hex Unit: − Default: 00 hex Attribute: −




140

*1: If a receive PDO is not provided, R0 is used.• It indicates the RxPDOs used by this sync manager.

*1: "RO" is set if there is no TxPDO.• It indicates the TxPDOs used by this sync manager.




Size: 1 byte (U8) Access: RW*1 PDO map: Not possible

Sub-index 1-2: 1st-2nd PDO Mapping Object Index of assigned 2nd PDO

Range: − Unit: −Default: Differ by Slave Unit types

Attribute: −

Size: 2 bytes (U16) Access: RW*1 PDO map: Not possible




Size: 1 byte (U8) Access: RW*1 PDO map: Not possible

Sub-index 1-5: 1st-5th PDO Mapping Object Index of assigned PDO

Range: − Unit: −Default: Differ by Slave Unit types

Attribute: −

Size: 2 bytes (U16) Access: RW*1 PDO map: Not possible


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Manufacturer Specific Objects

This section explains the CiA401 generic I/O module device profile implemented in FH-series EtherCAT Slave Units and the objects specially mounted in FH-series EtherCAT Slave Units.

Common Objects for Sysmac Devices

Manufacturer Specific area 1

• This object clears diagnosis history of 10F3 hex (Diagnosis History).• It clears the history only when specific values are written. The specific value is "elcl".

Writing values other than this is invalid.

2100 hex Error History Clear



MSB LSB

l c l e

6C hex 63 hex 6C hex 65 hex



142

• The mapping is used for Sysmac error status notification and to clear Sysmac error status.• Sub-index 1: Sysmac Error Status

• This object is for notification of errors that are detected in the Slave Unit.• When connected to an NJ-series Machine Automation Controller, map this object to a PDO.

• Sub-index 2: Sysmac Error Status Clear• This object is used by the Controller (a Sysmac device) to reset errors that occur in Slave Units.

• Object mounted only on Slave Units operating in the DC mode.• The number of sequences for detecting communications errors is set with this object.• The setting range is from 00 to 0F hex and the number of detections is "the set number of times + 1."• Rewriting value is possible at operation in the DC mode, but the operation is performed with the value set

when shifting from the pre-operational state to safe-operational state. Note that at this point, the rewritten value is read.

2002 hex Sysmac Error




Sub-index 1: Sysmac Error Status



Sub-index 2: Sysmac Error Status Clear


Size: 1 byte (U8) Access: RW PDO map: Not possible

In the default Sysmac Studio settings, sub-index 1 (Sysmac Error Status) is automatically mapped to a PDO because 1BFF hex (512th transmit PDO Mapping) is assigned.

2200 hex Communication Error Setting

Range: 00 hex to 0F hexUnit: number of sequences

Default: 01 hex Attribute: C

Size: 1 byte (U8) Access: RW PDO map: Not possible

With the default setting of 01 hex, an error is detected if communications errors occur twice in a row.

Note

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Object mounted only on Slave Units operating in the DC mode.• This object is used to set the standby time until the first synchronization interrupt signal (SYNC0) is input

after shifting to the safe-operational state (state where a DC mode is confirmed).• If the first interrupt signal (SYNC0) is not input at all within this setting time, a synchronization error occurs.• The setting range is from 0000 hex to 0258 hex (600s) and operation is performed at 120s when 0000 hex

is set.• Rewriting value is possible at operation in the DC mode, but the operation is performed with the value set

when shifting from the pre-operational state to safe-operational state. Note that at this point, the rewritten value is read.

Vision Sensor Specific Objects

Manufacturer Specific area 2

2201 hex Sync Not Received Timeout Setting

Range: 0000 hex to 0258 hex Unit: s Default: 0000 hex Attribute: C


6000 hex Status Flag

Sub-index0: Number of entries



Sub-index1: Command Completion Bit

Range: True (1) or False (0) Unit: − Default: False (0)

Size: 1 bit (BOOL) Access: RO PDO map: Possible

Sub-index2: BUSY Bit

Range: True (1) or False (0) Unit: − Default: Differ by the status when starting


Sub-index3: Trigger Ready Bit



Sub-index4: Total Judgment Bit



Sub-index5: RUN Mode Bit



Sub-index6: Trigger Ack Bit



Sub-index7: Command Ready Bit



Sub-index8: Shutter Output Bit





144

• This object gets the status of the Sensor Controller.• Command Completion bit: ON during command execution.• BUSY bit: ON during command or measurement execution.• Trigger Ready bit: ON when Trigger signal can be input.• Overall Judgement bit: ON when the overall judgement is NG.• RUN Mode bit: ON when the Sensor Controller is in Run Mode.• Trigger Ack bit: ON when the Vision Sensor acknowledges a Trigger signal.• Command Ready bit: ON when a control command can be executed.• Shutter Output bit: ON when the sensing elements have completed exposure.• Flow Command Completion bit: ON when execution of a command that was executed during execution of

PLC Link, fieldbus, normal flow control has been completed.• Flow Command Busy bit: ON during execution of a command that was executed during execution of PLC

Link, fieldbus, normal flow control.• Flow Command Wait bit: ON while waiting for command input during execution of PLC Link, fieldbus,

normal flow control.• Error Status bit: ON when the Vision Sensor has detected an error.• Result Notification bit: ON when the Vision Sensor completes data output.• When you use the Sysmac Studio, all of the subindices of 1 that include the above bits are mapped.

• The executed command code is stored.

Sub-index9: Flow Command Completion Bit



Sub-index10: Flow Command Busy Bit



Sub-index11: Flow Command Wait Bit



Sub-index12-15: Control Reserve Bit12-15



Sub-index16: Error Status Bit



Sub-index17: Result Notification Bit



Sub-index18-32: Control Reserve Bit18-32



6001 hex Command Code Echo Back


Size: 4 bytes (U32) Access: RO PDO map: Possible


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• The response code is stored when the command is completed. (OK: 00000000 hex, NG: FFFFFFFF hex)

• The response data is stored the command is completed. (e.g. the scene number is stored when the command "Get scene number".)

• The output data are stored.

• The output data are stored.

6002 hex Response Data



6003 hex Response Data




Sub-index 1: Response Data0


Size: 4 bytes (INT32) Access: RO PDO map: Possible

6004 hex Error Code



6005 hex DINT Result Data




Sub-index0-63: DINT Result Data0-63


Size: 4 bytes (INT32) Access: RO PDO map: Possible

6006 hex LREAL Result Data




Sub-index0-31: LREAL Result Data0-31


Size: 8 bytes(Double) Access: RO PDO map: Possible



146

• This object controls the Sensor Controller.• Command Request bit: Turned ON to execute a command.• Trigger bit: Turned ON to execute a measurement.• Flow Command Request bit: Turned ON to execute a command during execution of PLC Link, fieldbus,

normal flow control.• Error Clear bit: Turned ON to clear the Error Status bit (3001 hex, subindex 17).• Result Set Request bit: Turned ON to request data output.• When you use the Sysmac Studio, all of the subindices of 1 that include the above bits are mapped.

• Stores the command code such as "Change scene".

7000 hex Control Flag




Sub-index 1: Command Request


Size: 1 bit (BOOL) Access: RW PDO map: Possible

Sub-index 2: Trigger



Sub-index 3-8: Control Reserve Bit03-08



Sub-index 9: Flow Command Request






Sub-index 16: Error Clear



Sub-index 17: Result Set Request






7001 hex Command Code


Size: 4 bytes (U32) Access: RW PDO map: Possible


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Store the parameter of the command. (e.g. the scene number is stored when the command "Switch scene".)

7002 hex Command Parameter




Sub-index1: Command Parameter 0


Size: 4 bytes (4 bytes (INT32) Access: RW PDO map: Possible



Size: 4 bytes (INT32) Access: RW PDO map: Possible









148

Objects are provided for each line as shown below when more than one line is used.

8000 hex Result Reporting Configuration

Sub-index0: Number of notice



Sub-index1: Switch of handshake mode


Size: 1 bit (BOOL) Access: RW PDO map: Not possible

Sub-index2: Result Valid period


Size: 4 bytes (INT32) Access: RW PDO map: Not possible

Sub-index3: Result Notification Time


Size: 4 bytes (INT32) Access: RW PDO map: Not possible

Line 1 : 6010 hex (Status Signals) to 6016 hex (Image Processing Results Real Number Data)

7010 hex (Control Signals) to 7012 hex (Command Parameter)

8010 hex (Image Processing Results Output Settings)




















2

Methods for C

onnecting and Com

municating w

ith External D

evices

F000 hex Modular Device Profile




Sub-index1: Index distance



Sub-index2: Maximum number of modules



Sub-index3: General configuration



Sub-index4: General information



Sub-index5: Module PDO Group of device



F010 hex Module Profile List




Sub-index1: Profile information of the module on position 1




















150







F030 hex Configured Module Ident List1




Sub-index1: Module Ident of the module configured on position 1

























2

Methods for C

onnecting and Com

municating w

ith External D

evices

F050 hex Detected Module Ident List1






























152

Communicating with PLC Link
This section describes how to set up communications, describes the communications specifications (PLC I/O memory areas and communications commands used with PLC communications), and provides communications timing charts and other information required to communicate between the Sensor Controller and an external device through PLC Link communications.
Communications Processing FlowThe Sensor Controller and external device communicate with PLC Link communications via Ethernet or RS-232C/422.

You can use PLC Link communications to perform control from the PLC with command/response communications and to output data after measurements. (You can use these two communications methods simultaneously.)For PLC Link communications, the following three communications areas are set in the PLC to perform communications.

You can set the area and address settings in the communications specifications of the Sensor Controller to assign the above three communications areas in the I/O memory of the PLC.

• PLC Link communications can be performed via Ethernet or RS-232C/422, but not both at the same time.• When using PLC Link communications to connect to an OMRON CJ-series PLC or NJ-series Machine Automation

Controller via Ethernet, you can connect only one FH/FZ5-series Sensor Controller or line.Do not set the output port number of the FH/FZ5 to the same number as the FINS/UDP port of the CJ-series PLC or the NJ-series Machine Controller.If more than one FH/FZ5 is connected to the same FINS/UDP port, PLC Link communications will not work correctly and a PLC Link Error may occur.


(1) Command AreaYou write the control commands to execute for the Sensor Controller to this area.

(2) Response AreaYou read the results of executing the control commands that were writ-ten to the Command Area from this area.


(3) Data Output AreaThis is the area from which the user reads the data output after a mea-surement is performed.

IMPORTANT

Communicating with PLC Link Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

Methods for C

onnecting and Com

municating w

ith External D

evices

*1: You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer until the Controller (master) turns ON the DSA signal to request the output data.

*2: The following processing items are used to read characters:Character Inspection, Barcode, 2DCode, and OCR

*3: Reference: Settings Required for Data Output (p.24) for information on the Output Units that output measurement data.

The PLC Link protocol communicates using three link areas: Command Area, Response Area, and Data Output Area. It is different from the serial PLC Link protocol used to inter-connect OMRON PLCs serially.

In the default settings for PLC Link communications, the data output processing method is set to the same processing used for models prior to the FZ4.This setting synchronizes the measurement processing and data output processing so that all data output processing finishes when measurement finishes. However, this makes the overall processing time for the measurement flow longer.If required for your application, change the communications settings to Asynchronous Output Mode, which performs measurement processing and data output processing in parallel. Reference: Asynchronous Output (p.172)

1. Command Area


• Control signals• Command code• Command parameters

2. Response Area

The Vision Sensor writes the execution results to the PLC.

PLC (master)

3. Data Output Area

The Vision Sensor writes the output data to the PLC.



The control commands that are written to the Command Area are executed.

...

...

Sensor Controller (slave)

Commands

ResponsesMeasurement results are written to the Response Area of the PLC.

• Status signals • Command code• Response code• Response data

Execution

External outputs*1

• Measurement FlowRead characters are written to the Output Area.


Communi-cations Module

Execution of processing item*2 to read character data

Execution of processing item (1)

Execution of processing item*3 for the Output Unit.

The Vision Sensor writes the values measured by processing item (1).

Operations are performed by executing the measurement flow.

Responds when a command is received.

Note

IMPORTANT

Communicating with PLC Link153


154

Communications Setup ProceduresThe following settings are required to use PLC Link communications.



2 Select [System setting] − [Startup] − [Startup setting] on the Multiview Explorer on the left and then click [Communication].


· · · The communication method to be used is determined by selecting a commu-nication module.Reference: Communications Module Settings (Startup Settings) (p.154)

↓


· · ·The communications specifications are set for the communications method of the Communications Module that was selected in step 1.Set the communications area assignments for exchanging data with the external device.Reference: Communications Specifications Settings (p.156)

↓


· · ·The data to output to the Data Output Area is registered in the Output Unit.The Output Unit is placed in the measurement flow in the same way as for other processing items.Reference: Output Data Settings (Processing Item Registration) (p.173)

↓

4. Testing communications · · · If communications are not working properly, check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network.If that does not solve the problem, refer to the troubleshooting section.Reference: Testing Communications (p.178)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

3 Select one of the following Communications Modules based on the communications method that is used to connect with the Sensor Controller and the Unit to connect to, then click [Apply].


5 On the Main Window, select [Function] − [System restart].Click [OK] in the [System restart] dialog box to restart the Sensor Controller.

6 When the Sensor Controller has restart, operation will be performed for the default settings of the specified Communications Module.Set the IP address and other settings for the PLC or other external device.

Communications Module Description

Serial (Ethernet) Performs PLC Link communications via an Ethernet connection.

PLC Link (Sysmac CS/CJ/CP/One)Select this Communications Module to communicate with an OMRON PLC.

PLC Link (MELSEC QnU/Q/QnAS)Select this Communications Module to communicate with a Mit-subishi Electric PLC.

PLC Link (JEPMC MP)Select this Communications Module to communicate with a Yaskawa Electric PLC.

Serial (RS-232C/422)Performs PLC Link communications via an RS-232C/422 con-nection.

PLC Link (SYSMAC CS/CJ/CP/One)Select this Communications Module to communicate with an OMRON PLC.

PLC Link (MELSEC QnU/Q/QnAS)Select this Communications Module to communicate with a Mit-subishi Electric PLC.

After you set the Communications Module, always click [Data save] and then restart the Sensor Controller. If the settings are not saved and the Sensor Controller is not restarted, the new Communications Module settings will not be enabled.

You can save the Communications Module settings to a file.Select [Save to file] from the [Function] menu, and then select [System data] or [System + Scene group 0 data] to save the settings data to a file.Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

IMPORTANT

Note



156

Communications Specifications SettingsCommunications specifications, such as the link areas, baud rate, and data length, are set.The communications settings must be set separately for Ethernet and RS-232C communications.If communications cannot be performed even after setting these communications settings, check the settings and the communications status. (Reference: Testing Communications (p.178))

Connecting via Ethernet

1 On the Main Window, select [Tool] − [System Settings].Select [System Settings] and then select [Communication] − [Ethernet (PLC Link (SYSMAC CS/CJ/CP/One))], [Ethernet (PLC Link (MELSEC QnU/Q/QnAS))], or [Ethernet (PLC Link (JEPMC MP))].The Ethernet View is displayed.

2 In the communications setting areas, set the following items.

• The settings dialog box for the communications specifications will change depending on the Communications Module that you use.Before you set the communications specifications, select the Communications Module to use with the Sensor Controller in the startup settings. (Reference: Communications Module Settings (Startup Settings) (p.57))After you select the Communications Module, save the settings to the Sensor Controller and restart the Sensor Controller.If you do not restart the Sensor Controller, the selected Communications Module will not be enabled.

• Use the same communications settings for the Sensor Controller and the external device.• Do not input signals to Ethernet from an external device while setting the Ethernet system settings.

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• An FH-series Sensor Controller with four or eight Camera inputs has two Ethernet ports.Set the settings for the two Ethernet ports as follows:• Communications Module Settings

Use the same setting for both ports.• IP Address Setting

Set a different IP address for each Ethernet port.The IP address for the top Ethernet port is set in [Address setting], and the IP address for the bottom Ethernet port is set in [Address setting 2].Note that the FH prioritizes the bottom port, so when there is a high network load, communication on the top port may be delayed or in some cases communication data may be lost. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, non-procedure, Ethernet, or IP communications with a PLC and the top port for FTP or remote operation communications with an external device.

• An FH-series Sensor Controller with two Camera inputs has only one Ethernet port.In this case, the IP address of the Ethernet port is set in [Address setting 2].

• The FZ5 has only one Ethernet port.In this case, the IP address of the Ethernet port is set in the [Address setting].

Note



158


Address Settings (FH- -10/20 or FZ5 Only)Set the IP address of the top Ethernet port on the Sensor Controller.

• Obtain an IP address automatically• [Use the following IP address]

Use the following IP address When [Obtain an IP address automatically] is selected, the IP address of the Sensor Controller will be automatically obtained. When [Use the following IP address] is selected, set the IP address, subnet mask, and the default gate-way address.

IP address

a.b.c.da: 1 to 223b : 0 to 255c: 0 to 255d: 2 to 254[10.5.5.100]

Input the IP address of the Sensor Controller.

Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]

Input the subnet mask address.

Default gateway


Input the default gateway address.

DNS server


Input the DNS server address.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

3 Click [PLC link].The PLC Link Setting View is displayed.

Address setting 2 (FH-series Controllers Only)Set the IP address of the bottom Ethernet port on the Sensor Controller.


Same as [Address setting].

IP address


Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]

Default gateway


DNS server


Input/Output settings

Output IP address


Input the output destination IP address.

Input port No.0 to 65535[9600]

Set the port No. to use for data I/O with the Sensor Controller.

• If the operation mode is set to Multi-line Random-trigger Mode, set a different I/O port number for each line.• Change the IP address and subnet mask for [Address setting] and [Address setting 2] as required so that each

designate a different network address. If the same network address is specified, communications may not be performed correctly.

• Be sure to change the output IP address from its factory default value in accordance with your network environment.


IMPORTANT



160

4 Set the following items.Some setting items will change depending on the selected Communications Module.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Communicating with an OMRON PLC(When [PLC Link (Sysmac CS/CJ/CP/One)] is selected for the Communications Module)


Command area

Area

• [CIO Area (CIO)]• Work Area (WR)• Holding Bit Area (HR)• Auxiliary Bit Area (AR)• DM Area (DM)• EM Area (EM0 to EMC)

Set the Command Area.The range of the EM Area depends on the model of the CPU Unit of the connected PLC.

Address0 to 99999[0]

Set the first word address in the Command Area.

Response area

Area


Set the Response Area.The range of the EM Area depends on the model of the CPU Unit of the connected PLC.


Set the first word address in the Response Area.

Data output area

Area


Set the Data Output Area.The range of the EM Area depends on the model of the CPU Unit of the connected PLC.


Set the first word address in the Data Output Area.

Output control• None• [Handshaking]

Set whether to provide an interlock with the PLC when per-forming data output.None: Data is output regardless of the status of sig-

nals from the PLC. GATE is always OFF.Handshaking: Data is output after confirming DSA from the

PLC.



162

Asynchro-nous output

• Selected.• [Not selected.]

Selected: Measurement processing and data output pro-cessing are performed in parallel. The data out-put processing does not affect the processing time of the measurement flow.

Not selected: Measurement processing and data output pro-cessing are synchronized so that all data output processing is finished when measurements are finished. This increases the overall processing time of the measurement flow.

Reference: Asynchronous Output (p.172)

Retry interval [ms]0 to 999999[10000]

Set the time after which a timeout error will occur due to failing in establishing PLC link communications. *1

The error is caused by making incorrect communication set-tings or disconnection of communication cables, and similar causes. After a timeout error occurs, communications with the destina-tion device will be attempted at the interval time that is set as the retry interval.Reference: Data Output Control with Handshaking (p.27)*1: If handshaking is enabled, a timeout error will also occur if

any of the following operations are not performed during the [Retry interval].• If the DSA signal is not turned ON after a certain time

elapses from when measurements are finished• If the DSA signal is not turned OFF after a certain time

elapses from when the GATE signal turns ON• If the DSA signal is not turned ON after a certain time

elapses from when the GATE signal turns OFF.

Retry interval 2 [ms]0 to 999999[1000]

The command will be resent after the time that is set for "Retry interval 2" in cases where PLC link communications fail due to a temporary response delay caused by heavy network loads, processing conditions on a PLC, and similar causes. Set the time so that the time set for "Retry interval 2" is shorter than the time set for "Retry interval". Normally the setting should not be changed.

Polling cycle [ms]−1 to 999999[0]

0 to 999999: Set the interval to perform polling from the FH/FZ5 to the external device (e.g., PLC).−1: If this value is set, polling will not be performed during nor-mal operation.This setting prevents communications (polling) from affecting the measurement processing time during normal operation.Commands cannot be executed, but data output and flow con-trol can be performed.


Always set the output control to [Handshaking] for asynchronous output. If you set the output control to [None], operation will be fixed at the following values: Output time: 100 ms, Output period: 200 ms.If you need a shorter output time and output period when the output control is set to [None], do not select asynchronous output.

IMPORTANT

This is the same as the PLC Link operation of the FZ4 Vision Sensor.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Communicating with a Mitsubishi Electric PLC(When [PLC Link (MELSEC/QnU/Q/QnAS)] is selected for the Communications Module)


Command area

Area• [Data register]• File register• Link register

Set the Command Area.



Response area


Set the Response Area.



Data output area


Set the Data Output Area.




Set whether to provide an interlock with the PLC when performing data out-put.None: Data is output regardless of the status of signals from the

PLC. GATE is always OFF.Handshaking: Data is output after confirming DSA from the PLC.

Asynchro-nous out-put


Selected: Measurement processing and data output processing are per-formed in parallel. The data output processing does not affect the processing time of the measurement flow.

99

Not selected: Measurement processing and data output processing are synchronized so that all data output processing is finished when measurements are finished. This increases the overall processing time of the measurement flow.



IMPORTANT


Note



164


Set the time after which a timeout error will occur due to failing in establish-ing PLC link communications. *1

The error is caused by making incorrect communication settings or discon-nection of communication cables, and similar causes. After a timeout error occurs, communications with the destination device will be attempted at the interval time that is set as the retry interval.Reference: Data Output Control with Handshaking (p.27)*1: If handshaking is enabled, a timeout error will also occur if any of the

following operations are not performed during the [Retry interval].• If the DSA signal is not turned ON after a certain time elapses from

when measurements are finished• If the DSA signal is not turned OFF after a certain time elapses from

when the GATE signal turns ON.• If the DSA signal is not turned ON after a certain time elapses from

when the GATE signal turns OFF.

Retry interval 2 [ms]

0 to 999999[1000]



Set the interval to perform polling from the FH/FZ5 to the external device (e.g., PLC).



2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Communicating with a Yaskawa Electric PLC(When [PLC Link (JEPMC MP)] is selected for the Communications Module)


Command area

Area Data register Data registers are always used for the Command Area.



Response area

Area Data register Data registers are always used for the Response Area.



Data output area

Area Data register Data registers are always used for the Data Output Area.




Sets whether to establish an interlock with the PLC when data is output.None: Data is output regardless of the status of signals from the PLC. GATE is always OFF.Handshaking: Data is output after confirming DSA from the PLC.

Asyn-chronous output


Selected: Measurement processing and data output processing are per-formed in parallel. The data output processing does not affect the processing time of the measurement flow.

Not selected: Measurement processing and data output processing are syn-chronized so that all data output processing is finished when measurements are finished. This increases the overall process-ing time of the measurement flow.


Retry interval [ms]

0 to 999999[10000]

Set the time after which a timeout error will occur due to failing in establishing PLC link communications. *1

The error is caused by making incorrect communication settings or disconnec-tion of communication cables, and similar causes. After a timeout error occurs, communications with the destination device will be attempted at the interval time that is set as the retry interval.Reference: Data Output Control with Handshaking (p.27)*1: If handshaking is enabled, a timeout error will also occur if any of the

following operations are not performed during the [Retry interval].• If the DSA signal is not turned ON after a certain time elapses from

when measurements are finished• If the DSA signal is not turned OFF after a certain time elapses from

when the GATE signal turns ON• If the DSA signal is not turned ON after a certain time elapses from

when the GATE signal turns OFF.


IMPORTANT


Note



166

5 Click [Apply] to apply the settings.Click [Close] to close the System Settings Dialog Box .

Connecting via RS-232C

1 On the Main Window, select [Tool] − [System Settings].Select [System Settings] and then select [Communication] − [RS-232C/422 (PLC Link (SYSMAC CS/CJ/CP/One))] or [RS-232C/422 (PLC Link (MELSEC QnU/Q/QnAS))].The serial interface window is displayed.

2 In the communications setting area, set the following items.

Retry interval 2 [ms]

0 to 999999[1000]


Polling cycle [ms] −1 to 999999Set the interval to perform polling from the FH/FZ5 to the external device (e.g., PLC).


Interface• [RS-232C]• RS-422*3

Adjust to the PLC communications specifications.If you connect to an OMRON PLC, set the PLC to Host Link communications.



2

Methods for C

onnecting and Com

municating w

ith External D

evices

3 Click [PLC link].The PLC Link Setting View is displayed.

4 Set the following items.Some setting items will change depending on the selected Communications Module.

Baud rate [bps]*1

• 2400• 4800• [9600]• 19200• 38400• 57600• 115200

Adjust to the PLC communications specifications.

Data length [bit]*2• [7]• 8

Adjust to the PLC communications specifications.Parity• None• Odd• [Even]

Stop bit [bits]• 1• [2]

Flow control[None]

Flow control is not performed with software. If the time in which there is no response from external devices reaches the timeout setting time, a timeout error occurs and an error message is displayed in the window. The parallel interface ERROR signal also turns ON.

Xon/XoffFlow control is performed with software. Data is sent according to the Xon/Xoff codes from external devices.

Timeout [s]1 to 120[5]

Set the time after which a flow control (Xon/Xoff) timeout error will occur.

*1: If a baud rate of [38400 bps] or higher is selected, effective communications may not be possible depending on the cable length because speeds of over 20 Kbps are not defined in RS-232C standards. In this case, set the baud rate to [19200 bps] or lower.

*2: With the RS-232C MELSEC Q Series, set the data length to 8.*3: RS-422 cannot be used with the MELSEC Q Series. and the FH Series.




168
Communicating with PLC Link Vision System FH/FZ5 Series User’s Manual

2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Communicating with an OMRON PLC(When [PLC Link (Sysmac CS/CJ/CP/One)] is selected for the Communications Module)


Command area

Area





Response area

Area





Data output area

Area







170


Set whether to provide an interlock with the PLC when per-forming data output.None: Data is output regardless of the status of signals from the PLC. GATE is always OFF.Handshaking: Data is output after confirming DSA from the PLC.



Selected: Measurement processing and data output process-ing are performed in parallel.The data output processing does not affect the processing time of the measurement flow.

Not selected: Measurement processing and data output process-ing are synchronized so that all data output processing is finished when measurements are finished.This increases the overall processing time of the measurement flow.



Used to set the time for generating a timeout error. *1

After a timeout error occurs, communication to check the remote device is attempted for the amount of time set for this [Retry interval] setting.*1: During [Handshaking] communication, a timeout also

occurs when any of the following operations is not exe-cuted during the time set for [Retry interval]:

• DSA signal not switched from OFF to ON when set amount of time has elapsed after completion of measurement

• DSA signal not switched from ON to OFF when set amount of time has elapsed after GATE signal has been switched from OFF to ON

• DSA signal not switched from OFF to ON when set amount of time has elapsed after GATE signal has been switched from ON to OFF





IMPORTANT


Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Communicating with a Mitsubishi Electric PLC(When [PLC Link (MELSEC/QnU/Q/QnAS)] is selected for the Communications Module)


Command area





Response area





Data output area






Set whether to provide an interlock with the PLC when per-forming data output.None: Data is output regardless of the status of signals from the PLC. GATE is always OFF.Handshaking: Data is output after confirming DSA from the PLC.



Selected: Measurement processing and data output process-ing are performed in parallel.The data output processing does not affect the processing time of the measurement flow.

Not selected: Measurement processing and data output process-ing are synchronized so that all data output processing is finished when measurements are finished.This increases the overall processing time of the measurement flow.



IMPORTANT


Note



172


Asynchronous Output

When asynchronous output is enabled, measurement flow and data output processing are performed in parallel.In this case, data output processing does not affect the measurement flow processing in any way. Clear the option for asynchronous output if you want to perform output in the same way as for FZ4 and prior models. This enables synchronous output, which means that execution of the measurement flow continues only after the data output processing for the current measurement flow is finished. In this case, all data output processing finishes when all measurements are finished, but the overall processing time of the measurement flow is increased.


Used to set the time for generating a timeout error. *1After a timeout error occurs, communication to check the remote device is attempted for the amount of time set for this [Retry interval] setting.*1: During [Handshaking] communication, a timeout also

occurs when any of the following operations is not exe-cuted during the time set for [Retry interval]:

• DSA signal not switched from OFF to ON when set amount of time has elapsed after completion of measurement

• DSA signal not switched from ON to OFF when set amount of time has elapsed after GATE signal has been switched from OFF to ON

• DSA signal not switched from OFF to ON when set amount of time has elapsed after GATE signal has been switched from ON to OFF



• [Asynchronous output] Not Selected • [Asynchronous output] Selected


0. Camera Image Input

5. Data Output

Sensor Controller

6. Search

Processing order

Measurement flow

. . . .

. . . .

1. Data output processing started.

3. Search executed.

The next processing item is not executed until the data output processing is finished.

2. Data output processing finished.


0. Camera Image Input

5. Data Output

Measurement flow

Sensor Controller

6. Search

Processing order

. . . .

. . . .

1. Data output processing started.

2. Search executed.

Data output processing


Data output processing is executed in parallel with the measurement flow processing.


IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Data Settings (Processing Item Registration)Set the items to output through PLC Link communications and the output format.



1 Click [Edit flow] in Toolbar.

2 Click [Data Output] in the processing item tree.

3 Click [Append].The [Data Output] processing item is appended at the bottom of the unit list (flow).

When outputting characters read by a processing item such as Barcode, these settings are set in the processing item used to read the characters (Character Inspection, Barcode, or 2DCode).Refer to the descriptions for each processing item for details on the character output settings and output format.• Character Inspection (Refer to Character Inspection in the Vision System FH/FZ5 Series Processing Items Reference

Manual (Cat. No. Z341).)• Barcode (Refer to Barcode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No.

Z341).)• 2DCode (Refer to 2DCode in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No.

Z341).)• OCR (Refer to OCR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No. Z341).)

Note



174

4 Click the [Data Output] icon ( ) and set the data output items and data format.Refer to the following reference for details on the settings.• Reference: Registering the Items To Output (p.175)

• The number of items that can be output in a single data output processing item is 8 to 256. If you need to output more data items, use more than one Output Unit.If multiple Output Units are registered in the same measurement flow, the data is output to the same destination. If you do not control the output, the output data that was output first will be overwritten by the output data that is output after it.Use one of the following methods to read each set of output data.

Offset

You can offset the location where the output data is written in the Data Output Area for each Output Unit.Set the [Offset] for the Data Output processing item. Reference: Output Format (Data Output) (p.177)

Controlling data output with handshaking

If handshaking is used to control data output, the timing of outputting the data is con-trolled by I/O signals.Each time that data is output, read the output data and move it to a different part of I/O memory in the PLC.Reference: Data Output Control with Handshaking (p.27) for details on handshaking.

• Data is output in the order that data output is registered in the measurement flow, i.e., the timing is different for each data output processing item. (Data output is executed in the order that it is executed in the measurement flow.) Reference: Outputting the Output Data (p.23)

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Registering the Items To Output

Set expressions for the data to output.

1 Click the [Data Output] icon ( ) in the measurement unit list (flow).

2 In the Item Tab Area, click [Setting].





5 Click the [...] button for the [Comment] box and enter an explanation of the expression.The comment you enter will be displayed in the detailed results on the Main Window.For example, if you enter “Test” as the comment for expression 0, “Test” will be displayed in place of “Expression 0” in the detailed results area on the Main Window.

6 To output more than 9 items, click on the [...] under [Number of output data items] and change the number of output items for the set Output Unit.By default you can output only 8 items, but you can change this to output a maximum of 256 output data items (1,024 bytes).




176

If you delete one of the expressions that is set for output data 0 through 255, the output numbers for all expressions after the deleted expression will stay the same. However, the actual data output will be output as though the list has been shifted forward for the number of expressions that have been deleted.To prevent data from being written to the wrong locations, use copy and paste to manually shift the expressions after the deleted number forward.

Example: If the Expression for Output 1 Is Deleted

Note

BitFirst word15 to 0

+10+11

DATA1 (Reference SX)

+12+13

DATA2 (Reference SY)

+14+15

DATA3 (Reference angle ST)

Data Output Destination (Data Output Area)Output Item Settings

Output 1 is deleted.

Data Output Destination (Data Output Area)Output Item Settings

BitFirst word15 to 0

+10+11


+12+13


+14+15

The output numbers assigned to the expressions remain the same, but the data output location is shifted forward for data 3.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Format (Data Output)

1 Click the [Output format] icon ( ) in the measurement unit list (flow).

2 In the Item Tab Area, click [Output format].

3 In the Output Setting Area, select the communications method.

4 Set the output format for the data to be output.

Set value [Factory default] Description

[RS-232C/RS-422] Communications are performed via a RS-232C/RS-422 connection.

Ethernet Communications are performed via the Ethernet.


PLC Link setting Specify the output format for the PLC Link.

Decimal output format When precision to 4 digits after the decimal point is required, use [Floating point].

[Fixed point] Data is output multiplied by 1,000. Example: For 123.456, 0x0001E240

Floating point Data is output in floating-point format. Example: For −123.4567, 0xc2f6e979

OffsetSet the number of offset words in the Data Output Area.0 to 99999 (default: 0)



178

Testing CommunicationsCheck to confirm that the PLC Link communications are set correctly.If communications cannot be performed even after set up the communications, use the following procedure to check the settings and the communications status.

Ethernet Communications

Before Performing a Communications TestThis example assumes that [Serial (Ethernet)] − [PLC Link (SYSMAC CS/CJ/CP/One)] is selected as the Communications Module.Stop the program on the PLC when you check the communications settings.

Checking the Communications SettingsUse the following procedure to check if the communications settings are correct.

Be sure to match the settings on the PLC for the [Output IP address] and [Input port No.]. If these settings do not match those on the PLC, “PLC Link Error” will be displayed on the Sensor Controller.

3. Set the IP address of the PLC in [Output IP address].

1. On the Main Window, select [Tool] − [System Settings]. Select [System data], and then select [Communication] −

[PLC Link (Sysmac CS/CJ/CP/One)].

2. Set the IP address of the Sensor Controller. The default settings are as follows: Address setting: 10.5.5.100 Address setting 2: 10.5.6.100

4. Set the port number to use for data I/O with the PLC in [Input port No.].

Set the same number as the destination PLC.

IMPORTANT

5. Click the [PLC Link settings] tab.

8. This completes the Controller settings.

6. Set the area settings. Match these settings with those on the destination PLC.

7. Set the output control. Set whether to provide an interlock with the PLC when performing data output.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Checking the Communications StatusUse the ping command to check if the Sensor Controller exists on the Ethernet network.Use this to determine if the Sensor Controller’s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network.

1 Connect the Sensor Controller and computer with an Ethernet cable.Set the left segments of IP address of the computer to the same values as the Controller and set only the right segment to a different value.

IP Address Setting Example

2 Open the Windows command prompt on the computer and execute the ping command.At the “>” prompt, type “ping”, followed by a space and the IP address of the Controller, and then press Enter.

Example:C:\>ping 10.5.5.100

3 After a few seconds, if you see “Reply from” followed by the IP address of the Controller (e.g., 10.5.5.100), you will know that the Controller is connected to the Ethernet network.

Example:Reply from 10.5.5.100: byte=32time<1ms TTL=128

If Anything Other than “Reply from” Is DisplayedThis means that the Controller is not connected to the network for some reason. Check the following.• Are the left three segments of the IP addresses of the computer and the Controller the same?• Is the Ethernet cable connected?

4 Use the ping command to also check the communications status of the PLC.

After you have confirmed the communications status as described above, send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correctly.

The ping command uses the ICMP protocol to send a response request to a device connected through an Ethernet network and determines the time required to respond to that request.If you properly receive a response from the destination device, the network connection and network settings are correctly set.

Device Setting example

Sensor Controller 10.5.5.100 (default)

Computer 10.5.5.101

Note



180

RS-232C/422 Communications

Before Performing a Communications TestThis example assumes that [Serial (RS-232C/422)] − [PLC Link (SYSMAC CS/CJ/CP/One)] is selected as the Communications Module.Stop the program on the PLC when you check the communications settings.


1. On the Main Window, select [Tool] − [System Settings]. Select [System data] from the tree on the left, and then select [Communication] − [RS-232C/422 (PLC Link (SYSMAC CS/CJ/CP/One))].

2. Set these settings based on the communications specifications.

3. Click the [PLC Link settings] tab.

4. Set the area settings.Set these settings based on the connected PLC.

5. Set the output control. Set whether to provide an interlock

with the PLC when performing data output.

6. This completes the Sensor Control-ler settings.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Checking the Communications Status

1 Connect the Sensor Controller and computer with an RS-232C/422 cable.

2 If the cable is not connected, check to confirm that the message “PLC Link Error” is displayed on the Controller.

3 Confirm that the “PLC Link Error” message goes away when the cable is connected.(At the longest, the message should disappear after the time set as the retry interval.)

If the “PLC Link Error” message does not go away, the PLC Link settings are not correct. Check the following.• Are the communications settings correct for the connected device?• Is the cable connected?• Are all cables wired correctly?


Memory AllocationThis section explains allocations for each area including the Command Area, Response Area, and Data Output Area.

Command Area (PLC to Sensor Controller)

First word in Command

Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0 XEXE EXE Control input (2 words)+1 DSA

+2CMD-CODE

(Command code: 2 words)+3

+4

CMD-PARAM

(Up to 12 words for command parameters.)

+5

+6

+7

+8

+9

+10

+11

+12

+13

+14

+15


EXE Command Request Bit Executes a command. Reference: Command List (p.188)

DSA Data Output Request BitRequests the next data output. Reference: Output Data Settings (Pro-cessing Item Registration) (p.173)

XEXE Flow Command Request Bit Executes a flow command.

CMD-CODE Command code Stores the command code.

CMD-PARAM Command parameters Stores command parameters.



182

Response Area (Sensor Controller to PLC)

The order in which data is stored depends on the manufacturer of the connected PLC.For details, see Reference: Parameter Notation Examples for Command Control (p.326).

First word in Response

Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0 XWAIT XBUSY XFLG BUSY FLG Control input (2 words)+1 GATE

+2CMD-CODE

(Command code: 2 words)+3

+4RES-CODE

(Response code: 2 words)+5

+6

RES-DATAResponse data (length changeable)

+7

+8

+9

+10

···


FLG Command Completion Bit Turns ON when command execution is completed.

GATE Data Output Completion Bit Turns ON when data output is complete.

BUSY Command Busy Bit Turns ON when command execution is in progress.

XFLG Flow Command Completion Bit Turns ON when flow command execution is complete.

XBUSY Flow Command Busy Bit Turns ON while a flow command is being executed.

XWAIT Flow Command Wait Bit Turns ON when a flow command can be executed.

CMD-CODE Command code Returns the executed command code.

RES-CODE Response code Stores the response from the executed command.

RES-DATA Response data Stores the response data from the executed command.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Data Output Area (Sensor Controller to PLC)Data that is output to the Data Output Area is not automatically assigned.Each data item for output is assigned in an Output Unit.

*1: PLC Link allows up to 256 data items to be output at one time. Set the number of output data items for each Data Output processing item. By changing the default value for the number of output data items in the Data Output processing item from 8 to the maximum of 256, you can output up to DATA255.

Data storage in the PLC I/O memory depends on the connected PLC.Refer to Memory Display Image on PLC I/O in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

First word in the Data Output Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0DATA0 Output data 0

+1


+3


+5


+7


+9


+11


+13

+14 DATA7*1 Output data 7


DATA0-7 Output data 0 to 7*1The data set in the output processing items is output. When there are multiple processing items, data is overwritten to this area while hand-shaking is performed.



184

I/O SignalsThe following tables describes the signals that are used to control I/O for PLC Link communications.

Input Signals

*1: A timeout error will occur and the Command Completion (FLG) signal and BUSY signal will be forced OFF if the EXE signal does not turn OFF within the time that is set in the PLC Link settings ([Retry interval] for Ethernet PLC Link and RS-232C/422 PLC Link) after the Command Completion (FLG) signal turns ON.

*2: A timeout error will occur and measurement data readied for output will be discarded if the DSA signal does not turn OFF within the time that is set in the PLC Link settings ([Retry interval] for Ethernet PLC Link and RS-232C/422 PLC Link) after the Result Completion (GATE) signal turns ON.

Signal Signal name FunctionON/OFF timing

OFF to ON ON to OFF

EXECommand Request Signal

Turn ON this signal (from the PLC) to send a com-mand to the Sensor Con-troller.

Turn ON the signal (from the PLC) to send a com-mand to the Sensor Con-troller and request execution based on the command code and com-mand parameters.

Turn OFF the signal from the PLC when the Sensor Controller turns ON the Command Completion (FLG) signal.*1

DSA (Used only for handshaking output control.)

Data Output Request Signal

Use this signal (from the PLC) during handshaking to request from the Sensor Controller the external out-put of the data output results from the execution of the measurement flow.

If this signal is ON when an Output Unit (Data Output Unit) in the measurement flow is executed, the Sen-sor Controller will output the data from the process-ing item.

• Turn ON the signal (from the PLC) to externally output the data that results from measurement.

• Turn ON the DSA signal at the same time as the Trigger (STEP) and Command Request (EXE) signals.If more than one Output Unit is used to output data, turn ON the DSA signal again after the GATE signals turns OFF.Reference: Time Charts (p.196)

Turn OFF the signal from the PLC when the Sensor Controller turns ON the Result Completion (GATE) signal.*2


Turn ON this signal to exe-cute a command during execution of PLC Link flow control.

Turn ON the signal to request execution of a command that was input during execution of the PLC Link flow control.

Turn OFF the signal when the Flow Command Com-pletion (XFLG) signal turns ON.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Signals


OFF to ON ON to OFF

BUSY Busy Signal

This signal tells when com-mands and other external inputs cannot be acknowl-edged.Make sure this signal is OFF before you request a command.

Note:• The execution of

commands or other processing received through any other protocol cannot be detected.(Example: This signal remains OFF during measurements for a parallel communications STEP signal.) If you use more than one protocol and need to detect command execution, use the parallel communications BUSY signal.

• Just because this signal is ON does not necessarily mean that a command is being executed. To check whether a command is being executed, access the Command Completion (FLG) signal.

The FH/FZ5 turns ON the signal when it receives a command from the user (PLC). (The signal turns ON after the EXE signal turns ON.)

The signal turns OFF when the user (PLC) turns OFF the Command Request (EXE) signal.

FLGCommand Com-pletion Signal

The FH/FZ5 uses this sig-nal to tell the user (PLC) that command execution has been completed.

The signal turns ON when the FH/FZ5 com-pletes execution of a received command.




186

Output Items

Measurement Results That You Can Output with the Data Output Processing Item

You can use the processing items that are related to outputting results to output the following data.You can also access measured values from the Calculation or other processing units.

GATE (Used only for handshaking output control.)

Data Output Completion Sig-nal


• The Result Set Request (DSA) signal turns ON after the FH/FZ5 executes the Output Unit (Data Output Unit) in the measurement flow*1, preparations for data output have been completed, and the Result Set Request (DSA) signal is turned ON.*1: This occurs when the

Output Unit is executed as the measurement flow is executed in order from the top. It does not occur when execution of a measurement is completed.

• If handshaking is disabled, the signal will always be OFF.

The signal turns OFF when the user (PLC) turns OFF the Result Set Request (DSA) signal.


This signal tells when exe-cution of a command that was executed during exe-cution of PLC Link flow control has been com-pleted.

The signal turns ON when execution of a com-mand that was executed during execution of PLC Link flow control has been completed (i.e., when Flow Command Busy turns OFF).

The signal turns OFF when the Flow Com-mand Busy (XEXE) signal turns OFF.

XBUSYFlow Command Busy Bit

This signal tells when a command that was input during execution of PLC Link flow control is being executed.

The signal is ON when a command that was input during execution of PLC Link flow control is being executed.

The signal turns OFF when the Flow Com-mand Busy Bit (XEXE signal) turns OFF.

XWAITFlow Command Wait Bit

This signal tells when input of a command can be acknowledged during exe-cution of PLC Link flow control.

The signal is ON when a command can be input during execution of PLC Link flow control.

The signal is OFF when a command cannot be input during execution of PLC Link flow control.

Measured item Text string Description


Data 0 to 255 D000 to D255 Results of expressions set for output data 0 to 255


OFF to ON ON to OFF


2

Methods for C

onnecting and Com

municating w

ith External D

evices

External Reference Table for the Data Output Processing Item

By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.



136 Communications method Set/Get0: Ethernet1: RS-232C/RS-422

137 Output format Set/Get 0: ASCII, 1: Binary

138 Digits of integer Set/Get 1 to 10

139 Digits of decimal Set/Get 0: 0 to 4:4

140 Minus Set/Get 0: −, 1:8

141 Field separator Set/Get 0: OFF, 1: Comma, 2: Tab, 3: Space, 4: Delimiter

142 Record separator Set/Get 0: OFF, 1: Comma, 2: Tab, 3: Space, 4: Delimiter

143 0 suppress Set/Get 0: No, 1: Yes

144 to 147Output IP addresses 1 to 4 (only when Ethernet is selected for the communications method)

Set/Get Destination IP addresses

149Output IP Address Setting (only when Ethernet is selected for the communications method)

Set/Get 0: Reference to system, 1: Individual specification

150 Output form (decimal) Set/Get 0: Fixed point, 1: Floating point

151 Offset Set/Get 0 to 99999

152Number of output data items (PLC Link only)

Set/Get 8 to 256

153 Plus Set/Get 0: No, 1: +

1000 to 1255 Data 0 to Data 255 Get only • ASCII: −99999999.9999 to 999999999.9999• Binary: −2147483.648 to 2147483.647

If you are using external reference numbers 5 to 12 on an FZ4 or earlier model, use 1000 to 1007 on the FH/FZ5.

Note



188

Command ListThe following tables list the commands used in PLC Link communications.For command details, refer to Parameter Notation Examples for Command Control (p.326).

Execution Commands


First word in Command Area Function Reference

+3 +2

0010 1010 Performs one measurement. Reference: (p.337)

0010 1020 Starts continuous measurement. Reference: (p.337)

0010 1030 Completes continuous measurement. Reference: (p.338)

0010 1040 Executes a test measurement for the specified unit. Reference: (p.338)

0010 2010 Clears measurement values. Reference: (p.339)

0010 2020 Clears the data output buffer. Reference: (p.340)

0010 3010 Saves data in the Sensor Controller. Reference: (p.340)

0010 4010 Re-registers the model data with the current image. Reference: (p.341)

0010 5010 Shifts the image display position by the specified amount. Reference: (p.342)

0010 5020 Zooms the image display in or out by the specified factor. Reference: (p.343)

0010 5030Returns the display position and display magnification to their default val-ues.

Reference: (p.343)

0010 7010 Copies the scene data. Reference: (p.344)

0010 7020 Deletes the scene data. Reference: (p.345)

0010 7030 Stores the scene data. Reference: (p.345)

0010 8010 Registers the specified image data as a registered image. Reference: (p.346)

0010 8020 Loads the specified registered data as a measurement image. Reference: (p.347)

0010 9010Responds in the first word of the Response Area +6+7 with the data that was set in first word of the Command Area +4+5.

Reference: (p.347)

0010 A010 Adds a user account to a specified group ID. Reference: (p.348)

0010 A020 Deletes a specified user account. Reference: (p.349)

0010 B010 Branches to the start of the measurement flow (processing unit 0). Reference: (p.350)

0010 F010 Restarts the Sensor Controller. Reference: (p.350)


+3 +2

0020 1000 Gets scene number. Reference: (p.351)

0020 2000 Gets the scene group number. Reference: (p.351)

0020 4000 Gets the number of the layout that is currently displayed. Reference: (p.352)

0020 5010Gets the number of the unit that is currently displayed in the specified Image Display Pane.

Reference: (p.353)

0020 5020 Gets the subimage number for the specified Image Display Pane. Reference: (p.353)

0020 5030 Gets the image mode for the specified Image Display Pane. Reference: (p.354)


2

Methods for C

onnecting and Com

municating w

ith External D

evices



0020 7010Gets the input status (enabled/disabled) for the Communications Mod-ules.

Reference: (p.355)

0020 7020 Gets the output status (enabled/disabled) to external devices. Reference: (p.355)

0020 8010 Gets the ON/OFF status of the specified parallel I/O terminal. Reference: (p.356)

0020 8020 Gets the ON/OFF status of all parallel terminals except for DI terminals. Reference: (p.358)

0020 8030 Gets the ON/OFF status of all parallel DI terminals. Reference: (p.359)

0020 9000 Gets the user name for the currently logged in user account. Reference: (p.359)

0020 9010 Gets the affiliation group ID for the currently logged in user account. Reference: (p.360)

0020 A000 Gets the current state of the operation log. Reference: (p.361)


+3 +2

0030 1000 Changes the scene. Reference: (p.361)

0030 2000 Switches the scene group number. Reference: (p.362)

0030 4000 Sets the layout number and changes the image. Reference: (p.363)

0030 5010Sets the number of the Unit to display in the specified Image Display Pane.

Reference: (p.364)

0030 5020Sets the number of the subimage to display in the specified Image Display Pane.

Reference: (p.365)

0030 5030 Sets the image mode for the specified Image Display Pane. Reference: (p.366)

0030 7010 Enables/disables inputs to the Communications Modules. Reference: (p.367)

0030 7020 Enables/disables outputs to external devices. Reference: (p.367)

0030 8010 Sets the ON/OFF status of the specified parallel I/O terminal. Reference: (p.368)

0030 8020 Sets the ON/OFF status of all parallel terminals, except for DO terminals. Reference: (p.369)

0030 8030 Sets the ON/OFF status of all parallel DO terminals. Reference: (p.370)

0030 9000 Changes the user account used by the user currently logging in. Reference: (p.371)

0030 A000 Sets the state of the operation log. Reference: (p.371)


+3 +2

0040 1000 Gets the unit data. Reference: (p.372)

0040 2000 Gets the current date and time. Reference: (p.373)

0040 3000 Gets system version information. Reference: (p.373)

0040 4000 Gets settings related to image logging. Reference: (p.375)

0040 4010 Gets the defined image logging folder name. Reference: (p.376)

0040 4020 Gets the defined data logging folder name. Reference: (p.377)

0040 4030 Gets the defined screen capture folder name. Reference: (p.377)


+3 +2



190


File Load Commands

File Save Commands

0040 4040 Gets the set image logging prefix Reference: (p.378)

0040 4050 Gets the conditions that are set for data logging. Reference: (p.379)

0040 4060 Gets the parallel DI terminal offset data that is set. Reference: (p.380)


+3 +2

0050 1000 Sets the unit data. Reference: (p.381)

0050 2000 Sets the date/time. Reference: (p.382)

0050 4000 Changes settings related to image logging. Reference: (p.383)

0050 4010 Sets the screen capture folder name. Reference: (p.384)

0050 4020 Sets the data logging folder name. Reference: (p.384)

0050 4030 Sets the screen capture folder name. Reference: (p.385)

0050 4040 Sets the image logging prefix. Reference: (p.386)

0050 4050 Sets the data logging conditions. Reference: (p.386)

0050 4060 Sets the parallel DI terminal offset data. Reference: (p.387)


+3 +2

0060 1000 Loads the scene data. Reference: (p.388)

0060 2000 Loads the scene group data. Reference: (p.388)

0060 3000 Loads system data. Reference: (p.389)

0060 5000 Loads System + Scene group 0 data. Reference: (p.390)


+3 +2

0070 1000 Saves the scene data. Reference: (p.391)

0070 2000 Saves the scene group data. Reference: (p.391)

0070 3000 Saves system data. Reference: (p.392)

0070 4000 Saves the image data. Reference: (p.393)

0070 4010Saves all the image data in the image buffer (specified with [main unit logging image]).

Reference: (p.393)

0070 4020 Saves the last logging image. Reference: (p.394)

0070 5000 Saves System + Scene Group 0 data in a file. Reference: (p.395)

0070 6000 Captures the screen. Reference: (p.395)


+3 +2


2

Methods for C

onnecting and Com

municating w

ith External D

evices


Timing Chart for Command ExecutionThe commands for measurement execution or other processing that are stored in advance in the memory of the PLC are input and executed when you turn ON the Command Request (EXE) signal.The Command Completion (FLG) signal turns ON when execution of the control command is completed. Use this as the trigger to turn OFF the Command Request (EXE) signal.

1 The command code and command parameters are set from the PLC.

2 Next, confirm that the BUSY signal and the Command Completion (FLG) signal have turned OFF and then turn ON the Command Request (EXE) signal again. A request is sent to the Sensor Controller.

3 The Sensor Controller executes the command and turns ON the BUSY signal when the request is received.

4 When the Sensor Controller finishes execution of the command, the command code, response code, and response data are set.

5 The Command Completion (FLG) signal is then turned ON.

6 The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON.

7 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal and the BUSY signal.

*1: A timeout error occurs and the Command Completion (FLG) signal and BUSY signal are forced OFF if the Command Request (EXE) signal is not turned OFF from the PLC (user) within the time set in the PLC Link settings ([Retry interval]: 0 to 999999 ms for Ethernet PLC Link, or [Timeout]: 1 to 120 s for RS-232C/422-PLC Link).

Command code OFF

ON

Command code OFF

ON

Response codeOFF

ON

Response dataOFF

ON

Command parameters OFF

ON

A B D E

Command Area

Response Area

ONCommand Request (EXE) signal OFF

BUSY signal ON

OFF

Command Completion (FLG) signal

ON

OFF

Retry interval*

C

FThe user (PLC) turns OFF the EXE signal when the FLG signal turns ON.* The FLG signal and BUSY signal are

forced OFF if the EXE signal is not turned OFF within the retry interval after the FLG signal turns ON.

The BUSY signal automatically turns OFF when the EXE signal turns OFF.

The FLG signal automatically turns OFF when the EXE signal turns OFF.

The FLG signal turns ON when execution of the control command is completed.

G

G




192

Timing Chart for the Execution of Continuous Measurement Commands without HandshakingContinuous execution is used to repeatedly execute measurements by starting the next measurement operation (image input and measurement processing) as soon as one measurement operation (image input and measurement processing) is completed.Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed.The BUSY signal remains OFF during continuous measurement, but in this state the Sensor Controller can receive the End Continuous Measurements command.

*1: The user (PLC) turns OFF the EXE signal when the FLG signal turns ON.*2: The FLG signal and BUSY signal are forced OFF if the EXE signal is not turned OFF within the retry interval after the FLG

signal turns ON.

Command code OFF

ON

Command code OFF

ON

Response code OFF

ON

Command Area

Response Area

ON Command Request (EXE) signal OFF

ON Command Completion (FLG) signal OFF

BUSY signal ON

OFF

Retry interval *2 Retry interval *2


Start Continuous Measurements command End Continuous Measurements command


ON



Continuous measurements are started.

Continuous measurements are ended.

Measure-ment

(1) (2)(3) (4) (5)(7)(8) (9) (10)(11)(12)

(3)

(14)

(13)(*1)

(6)(*1)

(11)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Operation to Start Continuous Measurements

1 The Start Continuous Measurements command code is set from the PLC (user).

2 The Command Request (EXE) signal is then turned ON. A request is sent to the Vision Sensor.

3 The Sensor Controller begins preparing for continuous measurement and turns ON the BUSY signal when the request is received.

4 The Sensor Controller sets the command code and response code when preparations for continuous measurement have been completed.



7 When the Sensor Controller detects that the Command Request (EXE) signal has turned OFF, it starts continuous measurements.

8 The Command Completion (FLG) signal and the BUSY signal are then turned OFF automatically.*1: A timeout error occurs and the Command Completion (FLG) signal and BUSY signal are forced OFF if the

Command Request (EXE) signal is not turned OFF from the PLC (user) within the time set in the PLC Link settings ([Retry interval]: 0 to 999999 ms for Ethernet PLC Link, or [Timeout]: 1 to 120 s for RS-232C/422-PLC Link).

Operation to End Continuous Measurements

9 The Stop Continuous Measurements command code is set from the PLC (user).

10 The Command Request (EXE) signal is then turned ON. A request is sent to the Sensor Controller and continuous measurements are stopped.

• Ending Continuous Measurements

11 The Sensor Controller sets the command code and response code when continuous measurement is stopped.



14 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal.


• The measurements during continuous measurements are given priority. Therefore, display of the measurement results (overall judgment, images, judgment for each processing unit in the flow display, and detailed results) may sometimes not be updated.


Note

IMPORTANT



194


No Handshaking

1 The Sensor Controller outputs data when execution of the Data Output Unit is started.

2 Data is output every time the Data Output Unit or another Data Output Unit is executed. The previously output data is overwritten.Therefore, you should use a PLC Link offset when executing multiple Data Output Units without handshaking.

Reference: Output Format (Data Output) (p.177)

A B

Data Output Unit execution


Output dataOFF

ON

Result Completion (GATE) signalResponse Area

OFF

ONFirst data output Second data output

Data Output Area

If the offset function is not used, the first data output will be overwritten by the second data output.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Using HandshakingWhen the PLC (user) turns ON the Result Set Request (DSA) signal, the Result Completion (GATE) signal turns ON.At that point, the output data that can be output*1 is output.The PLC (user) turns OFF the DSA signal when it has received the output data and when the Result Completion (GATE) signal is ON.If data is output from more than one Data Output Unit, turn ON the DSA signal again after the Sensor Controller turns OFF the Result Completion (GATE) signal to output the next output data.*1: This is the data that is prepared for output when the Output Unit is executed in the measurement flow.

*1: A timeout error will occur if the following states persist longer than the time set in the PLC Link settings ([Retry interval] for Ethernet PLC Link, or [Timeout] for RS-232C/422 PLC Link).• If the DSA signal is not turned ON after a certain time elapses from when measurement is finished. (Turn ON the DSA

signal at the same time as the measurement trigger command.)• If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON.• If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF.

1 The PLC (user) turns ON the Command Request (EXE) signal and the Result Set Request (DSA) signal at the same time. The output data for the first Data Output Unit can be dependably received.

2 The Sensor Controller executes the Data Output Unit in the measurement flow.Because the Result Set Request (DSA) signal is ON, the Result Completion (GATE) signal turns ON and the output data from the Data Output Unit is output to the external device.

3 The PLC (user) reads the data when the Result Completion (GATE) signal turns ON and it turns OFF the Result Set Request (DSA) signal.

4 The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

5 If there is more than one Data Output Unit in the measurement flow, the PLC (user) turns ON the Result Set Request (DSA) signal when the Result Completion (GATE) signal turns OFF and then waits for execution of the next Data Output Unit.

6 When the next Data Output Unit is executed, the GATE signal turns ON and the data is output. Receive the second output data and then repeat steps 3 to 5, above.Repeat steps 3 to 5 for any other data outputs.

Second data outputFirst data outputOutput dataOFF

ON

A D EB C F

ONData Output Request

(DSA) signalOFF

ONResult Completion

(GATE) signalOFF

* *

*

Retry interval



The EXE signal is turned ON at the same time.

The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

The PLC turns ON the Result Set Request again when the Result Completion (GATE) signal turns OFF and waits for the second data output.

The PLC reads the data when the Result Completion (GATE) signal turns ON and it turns OFF the Result Set Request (DSA) signal.

The PLC turns ON the Result Set Request (DSA) signal at the same time as the STEP or Command Request (EXE) signal and waits for the first output data.





196


Example 1: Inputting a Measurement Command after Changing a Scene without Handshaking

1 The command code and command parameters for the Select Scene command are set from the PLC.


3 The Sensor Controller changes the scene and turns ON the BUSY signal when the request is received.

4 The Command Completion (FLG) signal is turned ON.


6 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal and the BUSY signal.

7 The measurement command code and command parameters are set from the PLC.

8 The Command Request (EXE) signal is turned ON to execute the measurement command.

Select Scene command Measurement command

Scene No.

Command code OFF

ON


ON

Output dataOFF

ON

A B D G H J

Command Area

Response Area

Data Output Area

ONCommand Request (EXE) signal OFF

ONBUSY signalOFF

ONCommand Completion (FLG) signal OFF

ONResult Completion (GATE) signal OFF

C F I L

F L

KE


*Select Scene command execution *

Measurement command execution


2

Methods for C

onnecting and Com

municating w

ith External D

evices

9 The Sensor Controller executes measurement processing and turns ON the BUSY signal when the request is received.



12 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal and the BUSY signal.*1: A timeout error occurs and the Command Completion (FLG) signal and BUSY signal are forced OFF if the

Command Request (EXE) signal is not turned OFF from the PLC (user) within the time set in the PLC Link settings ([Retry interval] for Ethernet PLC Link and RS-232C/422 PLC Link).

To execute a measurement trigger after changing the scene, first confirm that the Command Completion (FLG) signal and the BUSY signal that turned ON for execution of the Select Scene command have turned OFF.Also, if the BUSY signal is ON for too little time and the external device cannot read it, increase the time that the BUSY signal is ON for changing scenes so that the external device can read the ON state. To do this, change the [Add time] setting for the [Scene switch time]. Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

Note



198





4 When the first Data Output Unit in the measurement flow is executed, the output data for the first Data Output Unit is output to the position at the specified offset in the Data Output Area.

5 When the second Data Output Unit in the measurement flow is executed, the output data for the second Data Output Unit is output to the position at the specified offset in the Data Output Area.*1: If no offset has been set, the data will overwrite the data from the first Data Output Unit in the same Data Output

Area.



8 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal and the BUSY signal.*1: A timeout error occurs and the Command Completion (FLG) signal and BUSY signal are forced OFF if the

Command Request (EXE) signal is not turned OFF from the PLC (user) within the time set in the PLC Link settings ([Retry interval] for Ethernet PLC Link, or [Timeout] for RS-232C/422-PLC Link).

ON

BUSY signal

Command codeOFF

ON


ON

Output dataOFF

ON

ON

ON


ON

Command Request (EXE) signal


Measurement command

A

*

B F

C H

H

G

Command Area

Response Area

Data Output Area

First data output Second data output

D Data Output Unit, first execution

E Data Output Unit, second execution


OFF

OFF

OFF

OFF



2

Methods for C

onnecting and Com

municating w

ith External D

evices

PLC Link Troubleshooting

Cannot Input to the Sensor Controller (RS-232C/422 Only)

No Data Is Output from the Sensor Controller

Saving All of the Measurement ResultsIf you output data from more than one Data Output Unit or for repeatedly measured output data (e.g., for continuous measurements), the same Data Output Area will be overwritten.If you want to save all output data, use one of the following methods.

Method Description

Offset (PLC Link Com-munications Only)

When using more than one Output Unit, you can offset the write destination of the output data for each Output Unit.Set the [Offset] for the Data Output processing item.Reference: Output Format (Data Output) (p.177)This function is enabled when you are performing data output from more than one Data Output Unit.

Controlling Data Out-put with Handshaking

Handshaking lets you control data output by using the GATE signal turning ON as a trigger for the data output timing and by turning ON the DSA signal to read the output data. Each time that data is output (from the second output on), read the output data and move it to a different part of I/O mem-ory in the PLC.Reference: Data Output Control with Handshaking (p.27)




No response is received after sending communica-tions commands.

There is a problem with the wiring.Check the wiring. Check the cable connec-tions.

There is a problem with the RS-232C set-tings.

Make sure that the settings are correct.

Responses are no longer received after sending communications com-mands (but communica-tions were working previously).

You are attempting to send commands while the BUSY signal is still ON.

Send commands only when the BUSY signal is OFF.

A cable has been disconnected. Check the cable connections.

A connecter has been disconnected. Check the connector connections.


The GATE signal does not turn ON.

Handshaking is disabled. The GATE signal is not output when there is no handshaking for the PLC Link protocol.

Enable handshaking for the output control in the communications settings.

The DSA signal is not ON (when handshak-ing is enabled).

Turn ON the DSA signal from the PLC.

Note



200


There is absolutely no data out-put.

Ethernet The output IP address is incorrect. Set the output IP address correctly.

RS-232C/422

There is a problem with the wiring or a cable has been disconnected.

Check the wiring.Check the cable connections.


You have not added any Data Output pro-cessing items in the measurement flow.

You have not added any Data Output pro-cessing items in the measurement flow.

The [Output] option is not selected in the Adjustment Window.

Select the [Output] option in the Adjustment Window.

Data is sometimes output, but sometimes not.

EthernetThe measurement commands are not being received.

If the BUSY signal stays OFF after sending a measurement command, the measurement command may not have been received.Send measurement commands only when the BUSY and FLG signals are both OFF.

RS-232C/422


The [Output] option is not selected in the Adjustment Window.

Select the [Output] option in the Adjustment Window.

The measurement commands are not being received.

If the BUSY signal stays OFF after sending a measurement command, the measurement command may not have been received.Send measurement commands only when the BUSY and FLG signals are both OFF.

The read/Verification string is not output.

Character output have not been set.

Set character output in the output parame-ters for the character output processing items (Character Inspection, Barcode, 2DCode, etc.).(Output for read/target strings is set up in the above processing items, not in the Data Out-put processing items.)

There is more than one Data Output Item, but data is received from only the last Data Output Unit in the list.

The data output by the first Data Output Unit is being overwritten by the data output by a Data Output Unit executed afterwards.

Use handshaking to control the data output or use an offset to prevent this from happen-ing.



The DSA signal is being turned ON and OFF too slowly. The following patterns are possi-ble.• The DSA signal does not turn ON after a

measurement is completed.• The DSA signal does not turn OFF after

the GATE signal turns ON.• The DSA signal does not turn ON after the

GATE signal turns OFF.

Turn the DSA signal ON or OFF within the time interval set for the timeout time.

The DSA signal is not being output or the Sensor Controller is slow in recognizing that the DSA signal has turned ON.

Check the timing of the DSA signal output in the PLC program.The signal may not be received correctly due to noise.



Slow Operation


2

Methods for C

onnecting and Com

municating w

ith External D

evices

A PLC Link Error Occurred

It takes around 10 seconds to execute any PLC Link commands.

Communications are timing out.Set the PLC cycle time to the shortest inter-val possible.

Response and data output is slow.

You are performing communications with incompatible protocols (e.g., PLC Link and EtherNet/IP).

Do not use incompatible protocols for com-munications.

Asynchronous output is selected without out-put control.

If you select asynchronous output, set the output control to [Handshaking]. If you spec-ify no output control, do not select asynchro-nous output.


The message “PLC Link Error” is displayed.



You changed the communications settings on the PLC (i.e., the port settings).

Restart the PLC.



202

Communicating with EtherNet/IPThis section describes the required communication settings, communication specifications, input/output format, and communication timing chart for communication between the Sensor Controller and external devices by EtherNet/IP.

Introduction to EtherNet/IPEtherNet/IP is an industrial multi-vendor network that uses Ethernet.The EtherNet/IP specifications are open standards managed by the ODVA (Open DeviceNet Vendor Association). EtherNet/IP is used by a wide range of industrial devices.Because EtherNet/IP uses standard Ethernet technology, various general-purpose Ethernet devices can be used in the network.EtherNet/IP has mainly the following features.

High-speed, High-capacity Data Exchange through Tag Data LinksThe EtherNet/IP protocol supports implicit communications, which allows cyclic communications called tag data links with EtherNet/IP devices.

Tag Data Links at Specified Communications Cycle for Each Application Regardless of the Number of NodesTag data links (cyclic communications) operate at the cyclic period that is specified for each application, regardless of the number of nodes. Data is exchanged over the network at the refresh cycle that is set for each connection. The communications refresh cycle will not increase even if the number of nodes is increased, i.e., the concurrency of the connection’s data is maintained.Because the refresh cycle can be set for each connection, each application can communicate at its ideal refresh cycle. For example, interprocess interlocks can be transferred at high speed, while the production commands and the status monitor information are transferred at low speed.

• On a network to which many devices are connected, performance may drop (e.g., responses may be delayed or packets lost) or communications errors may occur when there is temporarily high traffic on the network. Test the operation under actual conditions before you start actual operation of the system.

• Since a reasonable amount of measurement takt time is required to have stable communications in an operation under high load, verify the operation under the conditions that are to be actually applied.

• Use Ethernet connector 2 (the bottom connector) to perform EtherNet/IP communications with the FH- -10 or FH--20. You cannot use EtherNet/IP communications with Ethernet connector 1 (the top connector).

• Connection using Multi-line Random Trigger Mode is not possible with some PLCs. In Multi-line Random Trigger Mode, the sensor controller assigns a connection to each line. On some PLCs, multiple connections cannot be set. Check and verify the PLC specifications prior to using.

IMPORTANT

Communicating with EtherNet/IP Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

Methods for C

onnecting and Com

municating w

ith External D

evices

Data Exchange with EtherNet/IP

Communications with Tag Data Links

Data is exchanged cyclically between Ethernet devices on the EtherNet/IP network using tag data links as shown below.

Data Exchange MethodTo exchange data, a connection is opened between two EtherNet/IP devices.One of the nodes requests the connection to open a connection with a remote node.The node that requests the connection is called the originator, and the node that receives the request is called the target.

Data Exchange Memory LocationsThe memory locations that are used to exchange data across a connection are specified as tags.You can specify memory addresses or variables for tags.A group of tags consists of an output tag set and an input tag set.

Message communications are used when communicating with a PLC that does not support tag data link communications or when using functions, such as character string output, that are not supported in tag data link communications.If you are using EtherNet/IP message communications, refer to Communicating with the Sensor Controller with EtherNet/IP Message Communications (p.247).

Sensor Controller

Connection

PLC

Output tag set name: B

Output tag set name:Input_101

Input tag set name: A

Ethernet (EtherNet/IP)

Target

Connection

Originator

Tag: D0

Tag: D100

Tag: Input_101

Connection fromSensor Controller to PLC

Input tag set name:Output_100

Tag: Output_100Connection from

PLC to Sensor Controller

Note

Communicating with EtherNet/IP203


204

EtherNet/IP Communications Cycle (RPI)

Data is refreshed for EtherNet/IP tag data link communications at a communications interval called the RPI (requested packet interval).All data transfer between the external device (e.g., PLC) and the Sensor Controller are performed at the set RPI.

Signal changes from the Sensor Controller are affected by the RPI. In some cases the target device may not detect a change in the ON/OFF status of a signal depending on the RPI timing.Therefore, you must set up the RPI and output signals from the Sensor Controller so that they satisfy the following relationship:

If the RPI is longer than the duration of a Sensor Controller signal change, the signal change may not be detected.

Example 1: Duration of Change in Sensor Controller Signal < RPI

The PLC cannot detect some of the output signals from the Sensor Controller.

Duration of change in Sensor Controller signal > RPI

Set the RPI to 4 ms or higher.

RPI 30 ms

Sensor Controller

Output period 50 ms

Output time 30 ms (ON: 30 ms, OFF: 20 ms)

Output control None

PLC

OFFON

RPI RPI

Sensor Controller

Communications transmission path (EtherNet/IP)

Data is updated at the set packet interval (RPI).

Output signal from the Sensor Controller

IMPORTANT

PLC

OFF

ON

The packet interval (RPI) is too long.30 ms

30 ms

30 ms 30 ms

Sensor Controller

30 ms

50 ms 50 ms

Communications transmission path (EtherNet/IP)



2

Methods for C

onnecting and Com

municating w

ith External D

evices

Example 2: Duration of Change in Sensor Controller Signal > RPI

The RPI is shorter than the shortest signal time (GATE OFF: 20 ms), so the PLC can detect all output signals from the Sensor Controller.

RPI 10 ms

Sensor Controller

Output period 50 ms

Output time 30 ms (ON: 30 ms, OFF: 20 ms)

Output control None

Set the communications settings as follows:• Sensor Controller communications settings: Set [Output period] and [Output time] in the EtherNet/IP settings.

Reference: Set the EtherNet/IP Output Specifications (p.212)• RPI setting: Set the RPI using Support Software that can set tag data link settings (e.g., Network Configurator).

Reference: Tag Data Link Setting Methods (p.214)

PLC

Sensor Controller

10 ms

30 ms

50 ms 50 ms

30 ms

ON

OFF

10 ms 10 ms 10 ms

The packet interval (RPI) is correct.Communications transmission path (EtherNet/IP)


Note



206

EtherNet/IP CommunicationsYou can use an EtherNet/IP tag data link to communicate between the PLC and the Sensor Controller to control the Sensor Controller from the PLC with command/response communications or to output data after measurements.The Sensor Controller supports EtherNet/IP conformance tests.

Tag data link settings are set using Support Software for tag data link settings.To connect to OMRON Controllers and communicate through EtherNet/IP, you use the Network Configurator to set up tag data links (i.e., tags, tag sets, and connection settings).This section describes how to use the Network Configurator to set tag data link settings.Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator.• Reference: NJ-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506)• Reference: CS/CJ-series EtherNet/IP Units Operation Manual (Cat. No. W465)• Reference: CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)

• Since a reasonable amount of measurement takt time is required to have stable communications in an operation under high load, verify the operation under the conditions that are to be actually applied.

• On a network to which many devices are connected, performance may drop (e.g., responses may be delayed or packets lost) or communications errors may occur when there is temporarily high traffic on the network. Test the operation under actual conditions before you start actual operation of the system.

• When the measurement interval is short, the measurement processing load is high, or command processing for operations such as scene group changing is time-consuming, the Sensor Controller prioritizes measurement processing and control processing over communication processing. As a result, communication between an external device and the Sensor Controller may be temporarily interrupted, and a communication error may occur. In this case, set the communication error timeout time longer than the Sensor Controller’s processing time, or lengthen the measurement interval. Set the communication error timeout time in the tag data link connection settings*1 as follows: Timeout value > Measurement time on Sensor Controller.

*1: Use Support Software, such as the Network Configurator, to change the tag data link connection settings.For information on setting the tag data links using the Network Configurator, refer to Tag Data Link Setting Methods (p.214).

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Processing FlowFor EtherNet/IP communications, the following three communications areas are set in the PLC to perform communications.

The above three areas are set using Support Software that can set tag data link settings (e.g., Network Configurator). The areas can be specified by using I/O memory addresses or variable names.For details on tag data link settings using the Network Configurator, refer to Tag Data Link Setting Methods (p.214).Or, if you are connecting to a non-OMRON PLC or EtherNet/IP unit, download the EDS file for the Sensor Controller from your OMRON website and follow the procedures in the user’s manual for the external device you want to connect to and in the instructions for the software that you use to set the tag data link settings.The flow of EtherNet/IP communication between a PLC and the Sensor Controller is shown below.

*1: The Response Area (2) and Data Output Area (3) are assigned to continuous memory addresses or to variables.*2: You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer

until the Controller (master) turns ON the DSA signal to request the output data.*3: Refer to Settings Required for Data Output (p.24) for information on the Output Units that output measurement data.

Input tag set (to the Sensor Controller)

(1) Command Area (command/response method)

You write the control commands to execute for the Sensor Controller to this area.

Output connection to PLC

(2) Response Area (command/response method)

The Sensor Controller writes the results of executing the control com-mands that were written in the Command Area to this area.

(3) Data Output Area (data output after measurement)

The Sensor Controller writes the output data for the measurement to this area after execution of the measurement.

The Vision Sensor writes the output data to the PLC.

(1) Command Area

PLC

• Control inputs• Command code• Command parameters

(2) Response Area

(3) Data Output Area

• Control outputs• Command code• Response code• Response data

Sensor Controller

Commands

Responses

Execution

Output tag set

Input tags*1

Output tags

Input tag set

Input tag set Output tag set

20 bytes

16 bytes

32 bytes

...

...

...

The Vision Sensor writes the values measured by processing item (1).

Measurement flow

.....

External outputs*2


Input connection to the Sensor Controller

The Vision Sensor writes the execution results to the PLC.

Measurement results are written to the Response Area of the PLC.

The control commands that are written to the Command Area are executed.

Output connection to PLC



Commu-nications Module

Execution of processing item (1)

Execution of processing item for the Output Unit.*3


Operations are performed by executing the measurement flow.



208

Communications Setup ProceduresThe following settings are required to use EtherNet/IP communications.


· · · The communication method to be used is determined by selecting a commu-nication module.Reference: Communications Module Settings (Startup Settings) (p.209)

↓


· · · The communications specifications are set for the communications method of the Communications Module that was selected in step 1.Reference: Communications Specifications Settings (p.210)

↓

3. Tag data link settings · · · The tag data link settings are set to exchange data with the external device.This section describes an example of how to set the settings for tag data links with an OMRON PLC using the Network Configurator.Reference: Tag Data Link Setting Methods (p.214)

↓


· · ·The data to output to the Data Output Area is registered in the Output Unit.The Output Unit is placed in the measurement flow in the same way as for other processing items.Reference: Output Data Settings (Processing Item Registration) (p.217)

↓



2

Methods for C

onnecting and Com

municating w

ith External D

evices



2 Select [System settings] − [Startup] − [Startup setting] on the Multiview Explorer on the left and then click [Communication].

3 In the Communication module select Area, select [EtherNet/IP] in the [Fieldbus] box and then click [Apply].



6 When the Sensor Controller has been restarted, operation will be performed for the default settings of the specified Communications Module.Set the IP address and other settings for the PLC or other external device.



IMPORTANT

Note



210

Communications Specifications SettingsYou must set the output handshaking and output controls for EtherNet/IP communications.

Setting IP Addresses

Use the following procedure to set the IP address of the Sensor Controller.


2 In the tree view on the left, select [System Settings] − [Communication] − [Ethernet Normal (xyz)]. (“xyz” depends on the Communications Module.)The Ethernet View is displayed.

3 Set up the following items.UDP

• Set the Communications Module to EtherNet/IP in the startup settings before setting the communications specifications.Reference: Reference: Communications Module Settings (Startup Settings) (p.57)After you select the Communications Module, save the settings to the Sensor Controller and restart the Sensor Controller. If you do not restart the Sensor Controller, the selected Communications Module will not be enabled.Furthermore, if the operation mode is set to the Multi-line Random Trigger Mode, the Communications Modules for lines 1 and higher must also be set to Ethernet/IP.

• When using Multi-line Random-trigger Mode, specify different addresses for the sending and receiving areas for each line.

• After the tag data link is set, the Sensor Controller automatically restarts to reflect the setting.

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• An FH-series Sensor Controller with four or eight Camera inputs has two Ethernet ports.Set the settings for the two Ethernet ports as follows:• Communications Module settings

Use the same setting for both ports.• IP address settings

Set a different IP address for each Ethernet port.The IP address for the top Ethernet port is set in [Address setting], and the IP address for the bottom Ethernet port is set in [Address setting 2]. Note that the top Ethernet port on the FH does not support EtherNet/IP communication. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, non-procedure, Ethernet, or IP communications with a PLC and the top port for FTP or remote operation communications with an external device.




Address Settings (FH- -10/20 or FZ5 Only)Set the IP address of the top Ethernet port on the Sensor Con-troller.


Set the IP address of the Sensor Controller.When [Obtain an IP address automatically] is selected, the IP address of the Sensor Controller will be automatically obtained.When [Use the following IP address] is selected, set the IP address, subnet mask, and the default gateway address.

IP address

a.b.c.da: 1 to 223b: 0 to 255c: 0 to 255d: 2 to 254[10.5.5.100]


Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]


Default gateway



DNS server



Note



212


Set the EtherNet/IP Output Specifications


2 Select [System Settings] and then select [Communication] − [EtherNet/IP].The Ethernet View is displayed.

3 Set the following items.




IP address


Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]

Default gateway


DNS server


Change the IP address and subnet mask for [Address setting] and [Address setting 2] as required so that each designate a different network address. If the same network address is specified, communications may not be performed correctly.


IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

4 Click [Apply] to apply the settings.Click [Close] to close the System Settings Dialog Box.


Output control• [None]• Handshaking

Set whether to synchronize with the external device when data is output.None: The Sensor Controller outputs measurement results without syn-chronizing with external devices.Reference: No Handshaking (p.241)Handshaking: The Sensor Controller outputs measurement results while synchronized with external devices.Reference: Using Handshaking (p.242)

Output period• 2.0 to 5000.0 ms• [10.0 ms]

Valid only when [Output control] is set to [None]. Set the cycle by which measurement results are output.• Set the cycle so that the interval is longer than the output time, but less

than the measurement interval.• Adjust this value based on the RPI (packet interval) communications

cycle in the EtherNet/IP connection settings of the PLC you want to connect to.

Reference: EtherNet/IP Communications Cycle (RPI) (p.204)

Output time• 1.0 to 1000.0 ms• [5.0 ms]

Valid only when [Output control] is set to [None]. Set the GATE signal ON time. Set the time required for external devices to acquire measurement results. Adjust this value based on the RPI (packet interval) communica-tions cycle in the EtherNet/IP connection settings of the PLC you want to connect to.Reference: EtherNet/IP Communications Cycle (RPI) (p.204)

Timeout [s]• 0.5 to 120.0 s• [10.0 s]

Valid only when [Output control] is set to [Handshaking]. A timeout error occurs when no response from external devices is received within the time that has been set. A timeout error occurs when no response from external devices is received within the time that has been set. Also, a timeout error occurs if the status of each signal does not change within the specified time in the following situations.• If the DSA signal is not turned ON after a certain time elapses from

when measurements are finished• The DSA signal turns OFF after the GATE flag turns ON.• The DSA signal turns ON after the GATE flag turns OFF.

PLC Connection Timeout IntervalSet the PLC connection timeout interval so that it is longer than the measurement processing time. For the timeout value, refer to the IMPORTANT section on p.206.

IMPORTANT



214

Tag Data Link Setting MethodsThis section describes how to set data links for EtherNet/IP.The communications areas in the PLC for which data links are created to the Sensor are specified as tags and tag sets, and the connections are set for tag data link communications.To connect to OMRON Controllers and communicate through EtherNet/IP, you use the Network Configurator to set up tag data links (i.e., tags, tag sets, and connection settings).The procedures to set up the tag data link using the Network Configurator are described here.Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator.• Reference: NJ-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506)• Reference: CS/CJ-series EtherNet/IP Units Operation Manual (Cat. No. W465)• Reference: CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)

Tags, Tag Sets, and Connection Settings

The communications areas in the PLC are set as tag data link connections as shown in the following table.

• Tag and Tag Set Settings in the PLC

*1: Specify the I/O memory address of the first word in the Response Area. The Output Area is assigned immediately after the Response Area. If you specify a variable name, the variable is assigned for both the Response Area and Output Area. Refer to

Accessing Communications Areas Using Variables with NJ-series Controllers (p.226) for information on how to access the signals in the communications areas from the user program when variables are assigned.

• When connecting to an NJ-series or CJ-series CPU Unit, install the EDS file that defines the connection information for the Sensor Controller to the Support Software (e.g., Network Configurator). Download the EDS file from OMRON's website.

• After the tag data links are set, the Vision Sensor is automatically restarted to apply the settings.

ParameterSettings

Command Area Response Area and Output Area

Type of tags and tag set Output tag set Input tag set

Tag and tag set names I/O memory addresses or variable names I/O memory addresses or variable names*1

Data size 20 bytes48 bytes (total size of Response Area and Out-put Area)

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Settings in the Sensor Controller (Device Parameter Settings)

1 Right-click the Sensor Controller in the network on the Network Configurator and select [Parameter] − [Edit].

2 The Edit Device Parameters Dialog Box will be displayed. Make the required settings.

*1: Although the data size can be set as high as 502 bytes, with the current version use the default setting of 48 bytes.*2: Although the data size can be set as high as 502 bytes, with the current version use the default setting of 20 bytes.*3: The packet interval (RPI) is set in the connection settings between the PLC and the Sensor. No setting is required here.

Parameter name Value Set value

001 Input Size*1 The total size of Response Area and Output Area 48

002 Output Size*2 The data size of Command Area 20

003 RPI*3 The requested packet interval 10000



216

Connection Settings

*1: If multi-cast connections are used, however, use an Ethernet switch that has multi-cast filtering, unless the tag set is received by all nodes in the network.

*2: Adjust this value based on the communications settings of the Sensor Controller (i.e., the output period and the output time). Reference: EtherNet/IP Communications Cycle (RPI) (p.204)

Assembly Object Settings

Parameter Setting

Originator device (PLC)

Input tag set PLC_tag_set_name-[48Byte]

Connection type Any (default: multi-cast connection)*1

Output tag set PLC_tag_set_name-[20Byte]

Target device (Sensor Controller)

Output tag set Input_101-[48Byte]

Input tag set Output_100-[20Byte]

Packet interval (RPI) Any (default: 20.0)*2

Timeout valueUser specified (default: Packet interval (RPI) × 4)Set the timeout interval so that it is longer than the Sensor’s measure-ment processing time.

• If I/O memory addresses are specified for the communications areas, the information in the communications areas will be cleared when the operating mode of the PLC changes unless addresses in the CIO Area, which are maintained, are specified.

• The following assembly object is required to specify instances when the EDS file is not used.

Setting item Setting Description

Instance

100Output connection (for normal control and for line 0 in Multi-line Random Trigger Mode)

101Input connection (for normal control and for line 0 in the Multi-line Ran-dom Trigger Mode)

102 Output connection (for line 1 in Multi-line Random Trigger Mode)

103 Input connection (for line 1 in the Multi-line Random Trigger Mode)

· · ·

· · ·

114 Output connection (for line 7 in the Multi-line Random Trigger Mode)

115 Input connection (for line 7 in the Multi-line Random Trigger Mode)

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Data Settings (Processing Item Registration)Use the following procedures to set the items to output to EtherNet/IP and the output format.




2 Select the [Fieldbus Data Output] processing item from the processing item tree.

3 Click [Append].The [Fieldbus Data Output] processing item is appended at the bottom of the unit list (flow).

4 Click the [Fieldbus Data Output] icon ( ) and set the data output items and data format.Refer to the following references for details on the settings.Reference: Registering the Items To Output (p.175)



218


Set expressions for the data to output.Up to 8 expressions from 0 to 7 can be set in each unit.

1 Click the [Fieldbus Data Output] icon ( ) in the measurement unit list (flow).




• The number of items that can be output in a single data output processing item is 8. If you need to output more data items, use more than one Output Unit.However, the data is output to the same destination, so if you do not control the output, the output data that was output first will be overwritten by the output data that is output after it.Use the following method to read each set of output data.

Controlling Data Output with Handshaking

If handshaking is used to control data output, the timing of outputting the data is con-trolled by I/O signals.Each time that data is output, read the output data and move it to a different part of I/O memory in the PLC.Refer to Data Output Control with Handshaking (p.27) for details on handshaking.

• Data is output in the order that data output is registered in the measurement flow, i.e., the timing is different for each data output processing item. (Data output is executed in the order that it is executed in the measurement flow.) Reference: Reference: Outputting the Output Data (p.23)

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices





If you delete one of the expressions that is set for output data 0 through 7, the output numbers for all expressions after the deleted expression will stay the same. However, the actual data output will be output as though the list has been shifted forward for the number of expressions that have been deleted.To prevent data from being written to the wrong locations, use copy and paste to shift the expressions after the deleted number forward.For details on the Data Output Area, refer to Memory Allocation (p.223).

Example: If the Expression for Output 1 Is Deleted

Note

Bit First word 15 to 0

+8+9


+10+11

DATA2 (Reference SY)

+12+13

+8+9+10+11+12+13


Data Output Destination (Data Output Area) Output Item Settings

Output 1 is deleted.

Data Output Destination (Data Output Area) Output Item Settings

Bit First word 15 to 0 DATA1 (Reference SX)


The output numbers assigned to the expressions remain the same, but the data output location is shifted forward for data 3.



220

Output Format (Fieldbus Data Output)

1 Click the [Fieldbus Data Output] icon ( ) in the measurement unit list (flow).


3 Select the output format.


Decimal output form

[Fixed point]Data is output multiplied by 1,000.Example: For 123.456, 0x0001E240

Floating pointData is output in floating-point format.Example: For −123.4567, 0xc2f6e979


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Testing CommunicationsYou can check whether the EtherNet/IP communications settings are correct.If communications cannot be performed even after set up the communications, use the following procedure to check the settings and the communications status.

Before Performing a Communications Test

This example assumes that [Serial (Ethernet)] − [Normal (UDP)] is selected as the Communications Module.Stop the program on the PLC when you check the communications settings.

Checking the Communications Settings

Use the following procedure to check if the communications settings are correct.

3. On the Main Window, select [Tool] − [System Settings]. Select [System Settings] − [Communication] − [Ethernet/IP] from the tree view on the left.

4. Click the [Settings] tab.

5. Set the output control. Set whether to provide an interlock with the PLC when

performing data output.

* Output PeriodSet the cycle by which measurement results are output.Set the value so that the interval is longer than the output time and shorter than measurement interval.Output timeSet the interval during which the GATE signal (the signal that tells the PLC when to read the measurement results) is ON.This interval must be longer than the cycle time of the PLC and the EtherNet/IP packet interval (RPI). Set these values so that they satisfy the following relation-ships:

RPI < Output timeGATE ON time = Output timeGATE OFF time = Output period − Output time

(The output period and output time are only valid when output control is set to [None].)

6. This completes the Controller settings. The PLC settings are set next.

1. On the Main Window, select [Tool] − [System Settings]. In the tree view on the left, select [System Settings] −

[Communication] − [Ethernet Normal (xyz)]. (“xyz” depends on the Communications Module.)




222

Checking the Communications Status

Use the ping command to check if the Sensor Controller exists on the Ethernet network.Use this to determine if the Sensor Controller’s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network.

1 Connect the Sensor Controller and computer with an Ethernet cable.Set the left three segments of IP address of the computer to the same values as the Controller and set the right segment to a different value.








After you have confirmed the communications status as described above, send an actual measurement command to the Controller and check to confirm that Sensor Controller communications are operating correctly.




Computer 10.5.5.101

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Memory AllocationThis section describes the assignments of the Command Area for the input connection to the Sensor and the Response Area and Output Area for the output connection to the PLC.

Input Connection to Sensor (PLC Originator to Sensor Controller Target)

For input connections to Sensors, specify control inputs, command codes and command parameters that are parameters in the Command Area.

• Command Area

First word in Command

Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0 ERCLR XEXE STEP EXE Control output (2 words)+1 DSA

+2CMD-CODE

Command code (2 words)+3

+4

CMD-PARAMCommand param-eters (6 words max.)

+5

+6

+7

+8

+9


EXE Command Execution BitExecutes a command.Reference: Command List (p.234)

DSA Data Output Request BitRequests the next data output.Reference: Output Data Settings (Processing Item Registra-tion) (p.217)

STEP Measure Bit Executes a measurement.

XEXE Flow Command Request Bit Executes a command during execution of fieldbus flow control.

ERCLR Error Clear Bit Clears the ERR signal from the Sensor Controller.

CMD-CODE Command code Stores the command code.

CMD-PARAM Command parameters Stores command parameters.



224

Output Connection to PLC (Sensor Controller Originator to PLC Target)

For output connections to the PLC, execution results and output data from the Sensor Controller are set. Execution results from the Sensor Controller (control outputs, command codes, response codes, response data) are output to the Response Area, while output data from the Sensor Controller are output to the Data Output Area.

• Response Area

• Data Output Area

The order in which data is stored depends on the manufacturer of the connected PLC.For details, refer to Parameter Notation Examples for Command Control (p.326).


Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0 ERR XWAIT XBUSY XFLG RUN OR BUSY FLG Control output (2 words)+1 GATE

+2CMD-CODE

Command code (2 words)+3

+4RES-CODE

Response code (2 words)+5

+6RES-DATA

Response data (two words)+7


Area

BitName

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0


+9


+11


+13


+15


+17


+19


+21


+23

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices


FLG Command Completion Bit Turns ON when command execution is completed.

GATE Data Output Completion Bit Turns ON when data output is completed.

BUSY Command Busy Bit Turns ON when command execution is in progress.

OR Overall JudgementTurns ON when the overall judgement result is NG.(The OR signal is output when the checkbox for [Output] is selected in the ADJUST window.)

XFLG Flow Command Completion BitTurns ON when execution of a command that was input during the execution of fieldbus flow control has been completed (i.e., when XBUSY turns OFF).

XBUSY Flow Command Busy BitTurns ON when execution of a command that was input during execution of fieldbus flow control is in progress.

XWAIT Flow Command Wait BitTurns ON when a command can be input during the execution of fieldbus flow control.

RUN Run Mode Turns ON when the Sensor Controller is set to the Run Mode.

ERROR Error Signal Turns ON when the Sensor Controller detects an error signal.

CMD-CODE Command code Returns the executed command code.

RES-CODE Response code Stores the response from the executed command.

RES-DATA Response data Stores the response data from the executed command.

DATA0-7 Output data 0 to 7Outputs the data set in the output processing items.When there are multiple processing items, data is overwritten to this area while handshaking is performed.



226

Accessing Communications Areas Using Variables with NJ-series Controllers

With an NJ-series Controller, only variables can be used to access from the user program the I/O memory addresses that are assigned to the communications areas.Use the following settings.

Using Network Variables for AccessCreate user-defined variables that match the structures of the communications areas of the Sensor.Use the Sysmac Studio to define the variables.Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for Sysmac Studio operatingprocedures.

1 Defining the Data Types of the VariablesDefine data types for variables that match the structures of the communications areas.(1) Defining a Data Type for Signal Access

First, define a BOOL array data type to access the control signals and status signals.Here, a data type called “U_EIPFlag” is defined.Name of data type: U_EIPFlagType of derivative data type: Union

(2) Defining Data Types for Communications Area AccessData types are defined to access the communications areas, with one data type for the Command Area and another data type for the Response Area and Output Area.Here, data types called “S_EIPOutput” and “S_EIPInput” are defined.

• Data Type to Access the Command AreaName of data type: S_EIPOutputType of derivative data type: Structure

• Assignment Example for Variable Data Type That Matches the Command Area (Refer to Input Connection to Sensor (PLC Originator to Sensor Controller Target) (p.223))

U_EIPFlagF

UNIONData typeName of data type

ARRAY[0..31]OF BOOL Specifies an array ofBOOL data from 0 to 31.

W DWORD 32-bit bit string data

Name of data type Data typeS_EIPOutput STRUCT

ControlFlag U_EIPFlag The data type that was defined above (1)CommandCode DWORD 32-bit bit string data

CommandParam2 DINT 32-bit integer dataCommandParam3 DINT 32-bit integer data

CommandParam1 DINT 32-bit integer data

+0+1+2+3+4+5+6+7+8+9

Control code

Control Input

Parameter 1

Parameter 2

Parameter 3

Control Flag

S_EIPOutput

CommandCode

CommandParam1

CommandParam2

CommandParam3

Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Data Type to Access the Response and Output AreasName of data type: S_EIPInputType of derivative data type: Structure

• Assignment Example for Variable Data Type That Matches the Response and Output Areas(Refer to Output Connection to PLC (Sensor Controller Originator to PLC Target) (p.224))

2 Defining the VariablesDefine variables for the data links for the communications area data that is used in EtherNet/IP communications.These variables use the data types that were defined above in procedure 1.

3 Exporting the Variables That Were Defined on Sysmac StudioExport the variables that you defined so that you can use them on the Network Configurator.An exported CSV file is created.

4 Network Configurator Settings(1) Import to the Network Configurator the CSV file that you exported from the Sysmac Studio.

The variables that are imported will automatically be registered as tags.

Variable Variable type Network Publish attribute Data type Application

EIPOutput Global variable Output S_EIPOutput For data links to the Command Area

EIPInput Global variable Input S_EIPInputFor data links to the Response Area and Output Area

Name of data type Data typeS_EIPInput STRUCT

StatusFlag U_EIPFlag The data type that was defined above (1)CommandCodeEcho DWORD 32-bit bit string data

ResponseData DINT 32-bit integer dataOutputData ARRAY[0..7]OF DINT Specifies an array of DINT

data from 0 to 7.

ResponseCode DWORD 32-bit bit string data

Response Area

Output Area

StatusFlag

S_EIPInput

CommandCodeEcho

ResponseCode

ResponseData

Output Data

+0+1+2+3+4+5+6+7

Command code

Control output

Response code

Response data

Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+8+9

+22+23

DATA0

DATA7

Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0



228

(2) Set the connections as shown in the following table.

5 Accessing the Communications Areas from the User ProgramThe defined variables are used to access the communications areas for the Sensor using the following

• Command Area

• Response Area

• Output Area

Originator device (PLC) settings Target device (Sensor) settings

Input tag set: EIPOutput Output tag set: Input101

Output tag set: EIPInput Input tag set: Output100

Signal name Variable name

EXE EIPOutput.ControlFlag.F[0]

STEP EIPOutput.ControlFlag.F[1]

XEXE EIPOutput.ControlFlag.F[8]

ERCLR EIPOutput.ControlFlag.F[15]

DSA EIPOutput.ControlFlag.F[16]

Command code EIPOutput.CommandCode

Command parameter 1 EIPOutput.CommandParam1




FLG EIPInput.StatusFlag.F[0]

BUSY EIPInput.StatusFlag.F[1]

OR EIPInput.StatusFlag.F[3]

RUN EIPInput.StatusFlag.F[4]

XFLG EIPInput.StatusFlag.F[8]

XBUSY EIPInput.StatusFlag.F[9]

XWAIT EIPInput.StatusFlag.F[10]

ERR EIPInput.StatusFlag.F[15]

GATE EIPInput.StatusFlag.F[16]

Command code EIPInput.CommandCodeEcho

Response code EIPInput.ResposeCode

Response data EIPInput.ResposeData


Output data 1 EIPInput.OutputData[0]

· · ·

Output data 8 EIPInput.OutputData[7]


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Accessing Communications Areas by Specifying I/O Memory AddressesAT specifications can be set for variables to individually specify the I/O memory addresses that are assigned in the communications areas.

1 Setting Tag Sets (Network Configurator)Specify the tag names in the PLC directly by using the I/O memory addresses that are assigned in the communications areas. (Output tags are specified for the input connections to the Sensor and input tags are specified for output connections to the PLC.)

Setting Examples

2 Setting Variables (Sysmac Studio)Define variables with AT specifications to the I/O memory addresses that are assigned in the communications areas as shown below.

Setting Examples

3 Setting ConnectionsSet the connections as shown in the following table.

Example: Setting Example for Variables to Access the Command Area

Tag type Allocated I/O memory address

Output tag D0

Input tag D100

Variable AT specification

a D0.0

b D0.1

c D0.15

d D1.0

Originator device (PLC) settings Target device (Sensor) settings

Input tag set: D0 Output tag set: Input101

Output tag set: D100 Input tag set: Output100

15 1 0EXEDSA

SettingsVariable name AT

specification Data type

Command Area (PLC Output Tag D0)Variables Used to Access the Command Area in the PLC fromthe User Program

I/O memoryaddress

D0

D1

STEPERCLR

a (Assigned to the EXE signal.) D0.0 BOOLb (Assigned to the STEP signal.) D0.1 BOOLc (Assigned to the ERCLR signal.) D0.15 BOOLd (Assigned to the DSA signal.) D1.0 BOOL



230

I/O SignalsThe following tables list the signals that are used to control I/O for EtherNet/IP.

Input Signals

*1: If the EXE signal does not change from ON to OFF within the timeout time set in the EtherNet/IP settings after the control command done (FLG) signal turns ON, a timeout error occurs and the control command done signal (FLG) signal is forced OFF.

*2: If the DSA signal does not change from ON to ON within the timeout time set in the EtherNet/IP settings after the data output done signal (GATE signal) turns ON, a timeout error occurs and the measurement data that is ready for output is discarded.

*3: If the DSA signal does not change from OFF to ON within the [Timeout] time set in the EtherNet/IP settings after the measurement trigger signal (STEP signal) or control command signal (EXE signal) changes from OFF to ON and measurement starts, a timeout error occurs and the measurement data that is ready for output is discarded.


OFF to ON ON to OFF

EXECommand Request Signal

Turn ON this signal (from the PLC) to send a com-mand to the Sensor Con-troller.

Turn ON the signal (from the PLC) to send a command to the Sensor Controller and request execution based on the command code and command parameters.

Switch OFF the signal (from the PLC) when the FLG sig-nal from the Sensor Control-ler turns ON. *1

DSA (Used only for hand-shaking output control.)

Data Output Request Signal

Use this signal (from the PLC) during handshaking to request from the Sensor Controller the external out-put of the data output results from the execution of the measurement flow.If this signal is ON when an Output Unit (Fieldbus Data Output Unit) in the measurement flow is exe-cuted, the Sensor Control-ler will output the data from the processing item.

• Turn ON the signal (from the PLC) to externally output the data that results from measurement.

• Turn ON this DSA signal at the same time the STEP signal or EXE signal turns ON.If multiple Output Units are used to output more than 8 items of output data, turn ON the Result Set Request (DSA) signal again after the Result Completion (GATE) signals turns OFF.Reference: Time Charts (p.243)

Switch OFF the signal (from the PLC) when the GATE signal from the Sensor Con-troller turns ON.*2

ERCLR Error Clear BitTurn ON this signal to clear the ERR signal from the Sensor Controller.

Turn ON the signal (from the PLC) when the Error Status (ERR) signal turns OFF.

Turn OFF the signal (from the PLC) when the Error Sta-tus (ERR) signal turns OFF.

XEXEFlow Com-mand Request Bit

Turn ON this signal to exe-cute a command during execution of fieldbus flow control.

Turn ON the signal (from the PLC) to request execution of a command that was input during execution of fieldbus flow control.

Switches from ON back to OFF when the XFLG signal turns ON.

STEPMeasurement trigger

Turn ON this signal to exe-cute measurements.

Turn ON this signal (from the PLC) to execute measure-ment after checking that the Busy signal and the FLG sig-nal are ON.

Switches this signal from ON back to OFF (from the PLC) after the PLC detects that the Busy signal from the FH turns ON.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Signals


OFF to ON ON to OFF

BUSY Busy Signal

This signal tells when commands and other external inputs cannot be acknowledged.Make sure this signal is OFF before you request a command.*1: During continuous

measurement, the BUSY signal remains ON. The Sensor Controller accepts the EXE signal only after receiving the End Continuous Measurement command.

*2: The execution of commands or other processing received through any other protocol cannot be detected. (Example: This signal remains OFF during measurements for a parallel communications STEP signal.) If you use more than one protocol and need to detect command execution, use the parallel communications BUSY signal.

*3: Just because this signal is ON does not necessarily mean that a command is being executed. To check whether the command is being executed, check the status of the FLG signal.

The signal turns ON when the Sensor Controller receives a command from the user (PLC). (The signal turns ON after the EXE sig-nal turns ON.)

The signal turns OFF when execution of the command is completed.

FLGCommand Exe-cution Comple-tion

The Sensor Controller uses this signal to tell the user (PLC) that command execution has been com-pleted.

The signal turns ON when the Sensor Controller com-pletes execution of a com-mand that it received.

Turns OFF when the user (PLC) switches the EXE sig-nal from ON to OFF.



232

GATEData Output Completion Sig-nal


• No Handshaking:After execution*4 of the Fieldbus Data Output unit in the measurement flow by the Sensor Controller, the signal turns ON if the data is ready to be output.

• Handshaking:After execution*4 of the Fieldbus Data Output unit in the measurement flow by the Sensor Controller, the signal turns ON if the data is ready to be output and the DSA signal is ON.


• No Handshaking:The signal turns OFF after the output time that is set in the EtherNet/IP settings has elapsed.

• Handshaking:This signal turns OFF when the user (PLC) switches the DSA signal from ON to OFF.

ERR Error Signal

The Sensor Controller pro-vides notification with this signal when it detects the following errors.Refer to the following ref-erences for details on errors.Refer to Error Mes-sages and Troubleshoot-ing in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

The signal turns ON then the Sensor Controller detects an error.

The signal turns OFF when the error is eliminated and the user (PLC) performs another measurement or clears the error (i.e., turns ON the Error Clear (ERCLR) signal).

RUN Run ModeThis signal tells when the Sensor Controller is in Run Mode.

The signal turns ON when the Sensor Controller is in RUN Mode.

The signal turns OFF when the Sensor Controller is in Adjustment Mode.

OROverall Judge-ment

This signal gives the results of the overall judgement.

The signal turns ON when the overall judgement is NG.

The signal turns OFF when the overall judgement is OK.

XFLGFlow Com-mand Execution Completion

This signal tells when exe-cution of a command that was executed during exe-cution of fieldbus flow con-trol has been completed.

The signal turns ON when execution of a command that was executed during execu-tion of fieldbus flow control has been completed (i.e., when Flow Command Busy turns OFF).

This signal turns OFF when the XBUSY signal turns ON during execution of Fieldbus flow control.

XBUSYFlow Com-mand Busy Bit

This signal tells when a command that was input during execution of field-bus flow control is being executed.

The signal is ON when a command that was input dur-ing execution of the fieldbus flow control is being exe-cuted.

This signal turns OFF when execution of an input com-mand is completed during execution of Fieldbus flow control.


OFF to ON ON to OFF


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Items

Measurement Results for Which Output Is Possible (Fieldbus Data Output)


External Reference Tables (Fieldbus Data Output)

By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.

XWAITFlow Com-mand Wait Bit

This signal tells when input of a command can be acknowledged during execution of fieldbus flow control.

The signal is ON when a command can be input dur-ing execution of fieldbus flow control.

The signal is OFF when a command cannot be input during execution of the field-bus flow control.






5 to 12 Data 0 to Data 7 Get only• ASCII: −99999999.9999 to 999999999.9999• Binary: −2147483.648 to 2147483.647

150 Output type Set/Get0: Fixed point1: Floating point


OFF to ON ON to OFF



234

Command ListThis section explains each command used in EtherNet/IP.A command with a description of command area head word can be executed with both tag data link communication and message communication.A command without a description in the First word in Command Area column (---) can be executed only with message communications.For details on tag data link communications commands, refer to Command Details for PLC Link, EtherNet/IP, and EtherCAT (p.337).

Execution Commands


+3 +2

0010 1010 Performs one measurement. Reference: (p.337)

0010 1020 Starts continuous measurement. Reference: (p.337)

0010 1030 Completes continuous measurement. Reference: (p.338)

0010 1040 Executes a test measurement for the specified Unit. Reference: (p.338)

0010 2010 Clears measurement values. Reference: (p.339)

0010 3010 Saves data in the Sensor Controller. Reference: (p.340)

0010 4010 Re-registers the model data with the current image. Reference: (p.341)

0010 5010 Shifts the image display position by the specified amount. Reference: (p.342)

0010 5020 Zooms the image display in or out by the specified factor. Reference: (p.343)

0010 5030Returns the display position and display magnification to their default values.

Reference: (p.343)

0010 7010 Copies the scene data. Reference: (p.344)

0010 7020 Deletes the scene data. Reference: (p.345)

0010 7030 Stores the scene data. Reference: (p.345)

--- --- Registers the specified image data as a registered image. Reference: (p.457)

0010 8020 Loads the specified registered data as a measurement image. Reference: (p.347)

0010 9010 Returns the input character string as is to output (echo). Reference: (p.347)

--- --- Adds a user account to a specified group ID. Reference: (p.478)

--- --- Deletes a specified user account. Reference: (p.479)

0010 B010 Branches to the start of the measurement flow (processing unit 0). Reference: (p.350)


2

Methods for C

onnecting and Com

municating w

ith External D

evices




+3 +2

0020 1000 Gets scene number. Reference: (p.351)

0020 2000 Gets the scene group number. Reference: (p.351)

0020 4000 Gets the number of the layout that is currently displayed. Reference: (p.352)

0020 5010Gets the number of the unit that is currently displayed in the speci-fied Image Display Pane.

Reference: (p.353)

0020 5020 Gets the subimage number for the specified Image Display Pane. Reference: (p.353)

0020 5030 Gets the image mode for the specified Image Display Pane. Reference: (p.354)

0020 7010Gets the input status (enabled/disabled) for the Communications Modules.

Reference: (p.355)

0020 7020 Gets the output status (enabled/disabled) to external devices. Reference: (p.355)

0020 8010 Gets the ON/OFF status of the specified parallel I/O terminal. Reference: (p.356)

0020 8020 Gets the ON/OFF status of all parallel terminals except for DI terminals. Reference: (p.358)

0020 8030 Gets the ON/OFF status of all parallel DI terminals. Reference: (p.359)

--- --- Gets the user name for the currently logged in user account. Reference: (p.441)

--- --- Gets the affiliation group ID for the currently logged in user account. Reference: (p.443)

0020 A000 Gets the current state of the operation log. Reference: (p.361)


+3 +2

0030 1000 Changes the scene number. Reference: (p.361)

0030 2000 Switches the scene group number. Reference: (p.362)

0030 4000 Sets the layout number and changes the image. Reference: (p.362)

0030 5010Sets the number of the Unit to display in the specified Image Display Pane.

Reference: (p.364)

0030 5020Sets the number of the subimage to display in the specified Image Display Pane.

Reference: (p.365)

0030 5030 Sets the image mode for the specified Image Display Pane. Reference: (p.366)

0030 7010 Enables/disables inputs to the Communications Modules. Reference: (p.367)

0030 7020 Enables/disables outputs to external devices. Reference: (p.367)

0030 8010 Sets the ON/OFF status of the specified parallel I/O terminal. Reference: (p.368)

0030 8020 Sets the ON/OFF status of all parallel terminals, except for DO terminals. Reference: (p.369)

0030 8030 Sets the ON/OFF status of all parallel DO terminals. Reference: (p.370)

--- --- Changes the user account used by the user currently logging in. Reference: (p.442)

0030 A000 Sets the state of the operation log. Reference: (p.371)



236



File Load Commands


+3 +2

0040 1000 Gets the unit data. Reference: (p.372)

--- --- Gets the current date and time. Reference: (p.407)

--- --- Gets system version information. Reference: (p.480)

--- --- Gets settings related to image logging. Reference: (p.467)

--- --- Gets the defined image logging folder name. Reference: (p.422)

--- --- Gets the defined data logging folder name. Reference: (p.404)

--- --- Gets the defined screen capture folder name. Reference: (p.417)

--- --- Gets the set image logging prefix. Reference: (p.424)

0040 4050 Gets the conditions that are set for data logging. Reference: (p.379)

0040 4060 Gets the parallel DI terminal offset data that is set. Reference: (p.380)


+3 +2

0050 1000 Sets the unit data. Reference: (p.381)

--- --- Sets the date/time. Reference: (p.408)

--- --- Changes settings related to image logging. Reference: (p.469)

--- --- Sets the screen capture folder name. Reference: (p.423)

--- --- Sets the data logging folder name. Reference: (p.405)

--- --- Sets the screen capture folder name. Reference: (p.418)

--- --- Gets the image logging prefix. Reference: (p.425)

0050 4050 Sets the data logging conditions. Reference: (p.386)

0050 4060 Sets the parallel DI terminal offset data. Reference: (p.387)


+3 +2

--- --- Loads the scene data. Reference: (p.463)

--- --- Loads the scene group data. Reference: (p.465)

--- --- Loads system data. Reference: (p.471)

--- --- Loads System + Scene group 0 data. Reference: (p.398)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

File Save Commands


+3 +2

--- --- Saves the scene data. Reference: (p.464)

--- --- Saves the scene group data. Reference: (p.466)

--- --- Saves system data. Reference: (p.472)

--- --- Saves the image data. Reference: (p.434)

--- ---Saves all the image data in the image buffer (specified with [main unit logging image]).

Reference: (p.397)

--- --- Saves the last logging image. Reference: (p.438)

--- --- Saves System + Scene Group 0 data in a file. Reference: (p.399)

--- --- Captures the screen. Reference: (p.416)



238


Timing Chart for Command ExecutionThe commands for measurement execution or other processing that are stored in advance in the memory of the PLC are input and executed when you turn ON the Command Request (EXE) signal.The Command Completion (FLG) signal turns ON when execution of the control command is completed. Use this as the trigger to turn OFF the Command Request (EXE) signal.

1 The command code and command parameters are set from the PLC.


3 The Sensor Controller executes the command and turns ON the BUSY signal when the request is received.

4 The BUSY signal is turned OFF when the Sensor Controller has finished execution.

5 The command code, response code and response data are then set, and the Command Completion (FLG) signal turns ON.


7 The Sensor Controller confirms that the Command Request (EXE) signal is OFF and automatically turns OFF the Command Completion (FLG) signal.

Command code OFF

ON

Command code OFF

ON

Response code OFF

ON

Response data OFF

ON


ON Command Area

Response Area


BUSY signal ON

OFF


ON

OFF

Set timeout time *

The user (PLC) turns OFF the EXE signal when the FLG signal turns ON. * The FLG signal is forced OFF if the EXE

signal is not turned OFF within the set timeout time after the FLG signal turns ON.




(6)

(1) (2)

(7)

(5)

(4)

(3)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Continuous Measurement Command without HandshakingContinuous execution is used to repeatedly execute measurements by starting the next measurement operation (image input and measurement processing) as soon as one measurement operation (image input and measurement processing) is completed.Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed.

Operation to Start Continuous Measurements

1 The Start Continuous Measurements command code is set from the PLC (user).2 The Sensor Controller then checks that the BUSY signal and Command Completion

(FLG) signal are OFF, and switches the Command Request (EXE) signal from OFF to ON. The execution instruction is sent to the Sensor Controller.

3 The Sensor Controller begins preparing for continuous measurement when the Sensor Controller receives the request.

4 The Sensor Controller sets the command code and response code when preparations for continuous measurement have been completed.

5 The Command Completion (FLG) signal is then turned ON.6 The PLC (user) turns OFF the Command Request (EXE) signal when the Command

Completion (FLG) signal turns ON.7 When the Sensor Controller detects that the Command Request (EXE) signal has turned

OFF, it starts continuous measurements and turns ON the BUSY signal.8 The Command Completion (FLG) signal is then turned OFF automatically.

*1: A timeout error occurs and the Command Completion (FLG) signal and BUSY signal are forced OFF if the Command Request (EXE) signal is not turned OFF from the PLC (user) within the timeout time that is set in the EtherNet/IP settings.

Command code OFF

ON

Command code OFF

ON

Response code OFF

ON

Overall Judgement (OR) signal OFF

ON

Command Area

Response Area



BUSY signal ON

OFF

* Timeout time*

Measurement Measurement

Start Continuous Measurements command


ON




End Continuous Measurements command

Preparations to execute continuous measurements are started.

*1 The user (PLC) turns OFF the EXE signal when the FLG signal turns ON.* The FLG signal and BUSY signal are forced OFF if the EXE signal is not turned OFF within the timeout time after the FLG signal turns ON.

Timeout time

(12)(9)(10)

(11)(1) (2)(3) (4) (5)(7)

(10)

(13)*1

(6)*1

(8)

(14)



240

Operation to End Continuous Measurements

9 The End Continuous Measurements command code is set from the PLC (user) during execution of continuous measurements for a Start Continuous Measurements command.

10 The Command Request (EXE) signal is then turned ON. A request is sent to the Vision Sensor.

• Ending Continuous Measurements

11 The Sensor Controller stops continuous measurements and turns OFF the BUSY signal when it receives an execution request.

12 The Sensor Controller sets the command code and response code and then it turns ON the Command Completion (FLG) signal.


14 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal.

• Performing Measurements with the STEP SignalIn addition to inputting the Command Request (EXE) signal as a trigger to execute a measurement command, you can also perform measurements by inputting the measure bit (STEP).

1 Measurement starts when the measure bit (STEP) turns ON while the BUSY signal is OFF.

2 The BUSY signal turns ON when measurement begins.

3 Turn OFF the measure bit (STEP) when the BUSY signal turns ON.

4 The OR of the overall judgement is output when measurements are completed.

5 The BUSY signal turns OFF when the measurement flow is completed.


• The measurements during continuous measurements are given priority. Therefore, display of the measurement results (overall judgment, images, judgment for each processing unit in the flow display, and detailed results) may sometimes not be updated.


Note

IMPORTANT

Measure bit(STEP)

Command Area

Response Area

ON

OFF

BUSY signalON

OFF

Overalljudgement (OR)

ON

OFF

(1) (2) (3) (4) (5)


2

Methods for C

onnecting and Com

municating w

ith External D

evices


No Handshaking

1 The Sensor Controller outputs data when execution of the Fieldbus Data Output Unit is started.

2 Data is output every time the Fieldbus Data Output Unit or another Fieldbus Data Output Unit is executed. The previously output data is overwritten.To receive all output data, enable handshaking for the output control and then output the data.Reference: Output Format (Fieldbus Data Output) (p.220)

Output data 0 to 7 (DATA0 to DATA7)

Response Area


First data output

Second data output


(*1)

(*2)


ON

OFF

ON

OFF

A B

Data Output Area The data is overwritten by the second data output.

*1, *2: Data is output at the set output period*1 and for the set output time.*2After the data is output, the GATE signal is turned ON and the data is held for the data output time.



242

Using HandshakingWhen the PLC (user) turns ON the Result Set Request (DSA) signal, the Result Completion (GATE) signal turns ON.At that point, the output data that can be output*1 is output.The PLC (user) turns OFF the DSA signal when it has received the output data and when the Result Completion (GATE) signal is ON.If data is output from more than one Fieldbus Data Output Unit, turn ON the DSA signal again after the Sensor Controller turns OFF the Result Completion (GATE) signal to output the next output data.*1: This is the data that is prepared for output when the Output Unit is executed in the measurement flow.

1 The PLC (user) turns ON the Command Request (EXE) signal and the Result Set Request (DSA) signal at the same time. The output data for the first Fieldbus Data Output Unit can be dependably received.

2 The Sensor Controller executes the Fieldbus Data Output Unit in the measurement flow. Because the Result Set Request (DSA) signal is ON after the data is written, the Result Completion (GATE) signal turns ON.

3 The PLC (user) reads the data when the Result Completion (GATE) signal turns ON and it turns OFF the Result Set Request (DSA) signal.

4 The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

5 If there is more than one Field Data Output Unit in the measurement flow, the PLC (user) turns ON the Result Set Request (DSA) signal when the Result Completion (GATE) signal turns OFF and then waits for execution of the next Field Data Output Unit.

6 When the next Fieldbus Data Output Unit is executed, the GATE signal turns ON and the data is output. Receive the second output data and then repeat steps 3 to 5, above.Repeat steps 3 to 5 for any other data outputs.

Output data 0 to 7 (DATA0 to DATA7) Second data outputFirst data output


Wait for the first output data.The EXE signal is turned

ON at the same time.



(*1) (*1)


ON

OFF

Data Output Request (DSA) signal

ON

OFF

ON

OFF

*1 A timeout error will occur if any of the following states continues for longer than the timeout time that is set in the EtherNet/IP settings.• If the DSA signal is not turned ON after a certain time elapses from when the Output Unit was executed. (Turn ON the DSA

signal at the same time as the measurement trigger command.)• If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON.

The PLC turns ON the Result Set Request (DSA) signal at the same time as the STEP or Command Request (EXE) signal and waits for the first output data.

The PLC reads the data when the Result Completion (GATE) signal turns ON and it turns OFF the Result Set Request (DSA) signal.

The PLC turns ON the Result Set Request again when the Result Completion (GATE) signal turns OFF and waits for the second data output.

The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

(1) (6)(2) (3)(4)(5)


2

Methods for C

onnecting and Com

municating w

ith External D

evices


Example 1: Inputting a Measurement Trigger after Changing a Scene without Handshaking

1 The command code and command parameters for the Select Scene command are set from the PLC.


3 The Sensor Controller changes the scene and turns ON the BUSY signal when the request is received.

4 When the scene switch has finished, the BUSY signal turns OFF, and the Command Completion (FLG) signal turns ON.

5 The PLC (user) switches the Command Request (EXE) signal back to OFF when the Command Completion (FLG) signal turns ON.

6 The Sensor Controller checks that the Command Request (EXE) signal is OFF, then automatically turns the Command Completion (FLG) signal.


8 The Command Request (EXE) signal is turned ON to execute the measurement command.

Select Scene command Measurement command

Scene No.

Command code OFF

ON


ON

Output data 0 to 7 (DATA0 to DATA7) OFF

ON

Command Area

Response Area

Data Output Area


ON BUSY signal OFF


ON Result Completion (GATE) signal OFF


* * Select Scene command execution


(1) (2) (4) (7) (8) (10)

(5)

(6)

(9)

(11)

(12)

(3)



244


10 The BUSY signal turns off and the Command Completion (FLG) signal turns ON when the measurement processing is completed.


12 When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatically turns OFF the Command Completion (FLG) signal.*1: A timeout error occurs and the Command Completion (FLG) signal is forced OFF if the Command Request

(EXE) signal is not turned OFF from the PLC (user) within the timeout time that is set in the EtherNet/IP settings.

To execute a measurement trigger after changing the scene, first confirm that the Command Completion (FLG) signal and the BUSY signal that turned ON for execution of the Select Scene command have turned OFF.Also, if the BUSY signal is ON for too little time and the external device cannot read it, increase the time that the BUSY signal is ON for changing scenes so that the external device can read the ON state. To do this, change the [Add time] setting for the [Scene switch time]. Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices





4 When the first Fieldbus Data Output Unit in the measurement flow is executed, the Sensor Controller outputs the output data for the first Fieldbus Data Output Unit to the Data Output Area.

5 The Sensor Controller turns ON the Result Completion (GATE) signal when it has output the output data to the Data Output Area.

6 The Sensor Controller turns OFF the Result Completion (GATE) signal after the output time set in the EtherNet/IP settings has elapsed.

7 The second Fieldbus Data Output Unit in the measurement flow is executed.

8 When the time that is set for the output period in the EtherNet/IP settings has elapsed, the Sensor Controller outputs the output data for the second Fieldbus Data Output Unit to the Data Output Area.The data for the first Fieldbus Data Output Unit is overwritten at that time.

9 The Sensor Controller turns ON the Result Completion (GATE) signal and then turns it OFF after the output time that is set in the EtherNet/IP settings has elapsed.

10 The BUSY signal turns off and the Command Completion (FLG) signal turns ON when the measurement processing is completed.

Measurement command


Command code OFF

ON


ON

Output data 0 to 7 (DATA0 to DATA7) OFF

ON

Command Area

Response Area

Data Output Area


ON BUSY signal OFF


ON Result Completion (GATE) signal OFF

*

(4)Execution of first Fieldbus Data Output Unit

(7)Execution of second Fieldbus Data Output Unit

First data output Second data output


(1) (2) (5) (8)(10)

(11)

(12)

(6)

(3)

(8)

(9)



246


12 The Sensor Controller confirms that the Command Request (EXE) signal is OFF and automatically turns OFF the Command Completion (FLG) signal.*1: A timeout error occurs and the Command Completion (FLG) signal is forced OFF if the Command Request

(EXE) signal is not turned OFF from the PLC (user) within the timeout time that is set in the EtherNet/IP settings.

Saving All of the Measurement ResultsIf you output data from more than one Data Output Unit or for repeatedly measured output data (e.g., for continuous measurements), the same Data Output Area will be overwritten.To save all of the output data, adjust the output period and output time that are set in the EtherNet/IP settings so that all of the output data is output and either receive all of the output data by using the Result Completion (GATE) signal or use handshaking control.Handshaking lets you control data output by using the GATE signal turning ON as a trigger for the data output timing and turning ON the DSA to read the output data. (This is necessary from the second output data item onward.)Each time that data is output, read the output data and move it to a different part of I/O memory in the PLC.Refer to Data Output Control with Handshaking (p.27) for details on handshaking.



Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communicating with the Sensor Controller with EtherNet/IP Message CommunicationsMessage communications are used when communicating with a PLC that does not support tag data link communications or when using functions, such as character string output, that are not supported in tag data link communications.Message communications can be performed either by exchanging the same data as for tag data link communications using assembly objects or by sending and receiving commands equivalent to non-procedure commands using Sensor Controller-specific Vision Sensor objects.This document mainly describes the assembly objects and Sensor Controller-specific Vision Sensor objects. For information on the procedures for sending messages, refer to the manuals for the PLC you are using.

Object Configuration

The Sensor Controller’s EtherNet/IP function supports the following objects. These objects can be accessed using message communications.

Class (object name) Class ID Instance ID

Identity Object

1 (01 hex) 1 (01 hex)

Message Router Object

2 (02 hex) 1 (01 hex)

Assembly Object

4 (04 hex)

100 (64 hex): Output connection (for normal control and for line 0 in the Multi-line Ran-dom Trigger Mode)

101 (65 hex): Input connection (for line 1 in the Multi-line Random Trigger Mode)

102 (66 hex): Output connection (for normal control and for line 0 in the Multi-line Ran-dom Trigger Mode)

103 (67 hex): Input connection (for line 1 in the Multi-line Random Trigger Mode)

Connection Manager Object

6 (06 hex) 1 (01 hex)

Vision Sensor Object

100 (64 hex)

1 (01 hex): For normal control and for line 0 in the Multi-line Random Trigger Mode

2 (02 hex): For line 1 in the Multi-line Random Trigger Mode







TCP/IP Interface Object

245 (F5 hex) 1 (01 hex)

EtherNet Link Object

246 (F6 hex) 1 (01 hex)



248

Data TypesThe data types are preset as follows in the EtherNet/IP specifications.

Class ID: 4 Assembly Object

This object is used when communicating with a PLC that does not support tag data link communications.

Settings for Data Received by the Sensor ControllerInstance

Attribute

Data type DescriptionRange

Minimum value Maximum value

BOOL Boolean 0: FALSE 1: TRUE

SINT Short integer −128 127

INT Integer −32768 32767

DINT Double-precision integer −231 231−1

USINT Unsigned short integer 0 255

UINT Unsigned integer 0 65535

UDINT Unsigned double-precision integer 0 232−1

BYTE Bit string: 8 bits --- ---

WORD Bit string: 16 bits --- ---

DWORD Bit string: 32 bits --- ---

REAL Floating-point real Single-precision floating-point range

All values are stored in little endian order.

Setting item Set value Description

Instance

100 For normal control and for line 0 in the Multi-line Random Trigger Mode

102 For line 1 in the Multi-line Random Trigger Mode







Attribute ID Access Name Data type Description

0x03 Set Data BYTE array

The command that was received by the Sensor Controller is set in this attribute. The format is the same as for an output connection in tag data link communications.Reference: Output Connection to PLC (Sen-sor Controller Originator to PLC Target) (p.224)

0x04 Get Size UNIT Number of bytes: 20

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Service

Settings for Data Sent by the Sensor ControllerInstance

Attribute

Service

ClassID:100 (64 hex) Vision Sensor Object

You can exchange character string data with a format equivalent to non-procedure commands with objects specific to the Sensor Controller. You can use this object, for example, to output character strings, which is not supported by tag data links.

Instance

Service code Name Description

14 (0E hex) GetAttributeSingle Gets the attribute value.

16 (10 hex) SetAttributeSingleSets a value for the attribute. Whether an attribute can be set depends on the access attribute of the attribute.


Instance

101 For normal control and for line 0 in the Multi-line Random Trigger Mode









0x03 Get Data BYTE array

This attribute contains the data that was sent by the Sensor Controller.The format is the same as for input connection in tag data link communications.Reference: Input Connection to Sensor (PLC Originator to Sensor Controller Target) (p.223)

0x04 Get Size UNIT Number of bytes: 48


14 (0E hex) GetAttributeSingle Gets the attribute value.


Instance1 For normal control and for line 0 in the Multi-line Random Trigger Mode

2 to 8 For lines 1 to 7 in the Multi-line Random Trigger Mode



250

Attribute

Service

Command Setting ExampleThis section describes how to set attribute command strings and provides a setting example.• For the data that is sent from the PLC to the Sensor Controller, set a command character string equivalent to

a non-procedure command. Attach 0x00 (null) at the end of the character string. No line feed code is required. The size of the send data includes the 0x00 at the end of the character string.

• For the reception data from the Sensor Controller to the PLC, character string data equivalent to the non-procedure command reception character string is returned.Null (0x00) is inserted in the reception character string delimiter section.The size of the reception data includes the final 0x00.

Example: Getting the Number (0) of the Current Scene

Send data (2 bytes): 0x53('S') 0x00↓Receive data (5 bytes): 0x30('0') 0x00 0x4f('O') 0x4b('K') 0x00

EtherNet/IP Troubleshooting

Cannot Input to the Sensor Controller



0x01 Set Data BYTE array

The command string to send to the Sensor Control-ler is set in this attribute.(504 characters max.) The commands that can be used are equivalent to non-procedure commands.Reference: Command List (p.331)


0x32 SetAttribute Sets a value for the attribute.


No input is received.The EDS file version does not match the firmware version.

Make sure that the EDS file version matches the firmware version.


GATE signal is not output.The RPI (packet interval) and the Sensor Controller’s output period are not set cor-rectly.

The RPI (packet interval) time must be set so that it is shorter than the output period.

There is absolutely no data out-put.

The EDS file version does not match the firmware version.

Make sure that the EDS file version matches the firmware version.




2

Methods for C

onnecting and Com

municating w

ith External D

evices

Slow Operation


The timing of turning the DSA signal ON and OFF is too slow.One of the following problems may exist.• The DSA signal does not turn ON after

a measurement is completed.• The DSA signal does not turn OFF after

the GATE signal turns ON.• The DSA signal does not turn ON after

the GATE signal turns OFF.

After the measurement command is exe-cuted, turn the DSA signal ON and OFF within the timeout time*1 that is set in the Ethernet/IP communications settings.Or, increase the length of the timeout time that is set in the EtherNet/IP settings.

A tag data link timeout error occurred.

Communication between an external device and the Sensor Controller has been temporarily interrupted.The Sensor Controller prioritizes measurement processing and control processing over communication processing. Therefore, when the Sensor Controller’s internal processing load becomes large and sensor communication processing is delayed, communication between an external device and the Sensor Controller may be temporarily interrupted, and a communication error may occur.

Set the communication error timeout time longer than the Sensor Controller’s processing time, or lengthen the measurement interval. Set the communication error timeout time in the tag data link connection settings (*1) as follows:Packet interval (RPI value) × Timeout value > Measurement time on Sensor Controller


Response and data output is slow.





252

Non-procedure CommunicationsThis section provides the communications settings, communications specifications, input formats, and other information required to perform non-procedure (normal) communications between the Sensor Controller and an external device.

Communications Processing FlowThe Sensor Controller and external device communicate with command-based non-procedure communications via Ethernet or RS-232C/422.Communications are performed via the Ethernet using the UDP/IP or TCP/IP protocol.

*1: If Xon/Xoff is selected for the flow control and no response is received from the computer within the set timeout interval, there must either be a disconnection or the computer is not functioning correctly, causing the communications to time out.

ASCII character command

For example, when MEASURE is sent to execute a single measurement.

OK, NG, values, etc.

Sensor ControllerExternal device

Execution of processing items

Data Output Unit

Command

Response

Measurement data

Measurement Flow

There is no handshaking to determine if data can or cannot be received from an external device that is being sent serially (continuous).

Non-procedure Communications Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Setup ProceduresThe following settings are required to use non-procedure communications.


· · · The communication method to be used is determined by selecting a com-munication module.Reference: Communications Module Settings (Startup Settings) (p.254)

↓

2. Communications specifications settings · · · The communications specifications are set for the communications method of the Communications Module that was selected in step 1.Reference: Communications Specifications Settings (p.255)

↓


· · ·Set the data to output and register it in an Output Unit.The Output Unit is placed in the measurement flow in the same way as for other processing items.Reference: Output Data Settings (Processing Item Registration) (p.262)

↓


Non-procedure Communications253


254



2 Select [System settings] − [Startup] − [Startup setting] on the Multiview Explorer on the left and then click [Communication].


*1: With the [Normal (Fxxx series method)] communications method, the OK response timing in relation to MEASURE commands is different from that of the [Normal] communications method.Reference: Command Formats (p.271)



6 When the Sensor Controller has restart, operation will be performed for the default settings of the specified Communications Module.Set the IP address and other settings for the PLC or other external device.


Serial (Ethernet) Performs non-procedure communications through an Ethernet connection.

Normal (UDP)Select this Communications Module to communicate with the external device with UDP communications.

Normal (TCP)Select this Communications Module to communicate with the external device with TCP communications.

Normal (TCP Client)Select this Communications Module to communicate with the external device as a TCP client.

Normal (UDP) (Fxxx series method)

Select this Communications Module to communicate with the external device through UDP or Fxxx-series*1 communications.

Serial (RS-232C/422)Normally select this Communications Module to use non-procedure communica-tions through an RS-232C/422 connection.

Normal Normally selected when performing non-procedure RS-232C/422 communications.

Normal (Fxxx series method)

Select this Communications Module to communicate with the external device through Fxxx-series*1 communications.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Specifications SettingsThe communications settings must be set separately for Ethernet and RS-232C communications.If communications cannot be performed even after setting these communications settings, check the settings and the communications status.Reference: Testing Communications (p.267)

Connecting via Ethernet


2 In the tree view on the left, select [System Settings] − [Communication] − [Ethernet Normal (xyz)]. (“xyz” depends on the Communications Module.)The Ethernet View is displayed.



• The settings dialog box for the communications specifications will change depending on the Communications Module that you use.Before you set the communications specifications, select the Communications Module to use with the Sensor Controller in the startup settings.Reference: Communications Module Settings (Startup Settings) (p.254)After you select the Communications Module, save the settings to the Sensor Controller and restart the Sensor Controller. If you do not restart the Sensor Controller, the selected Communications Module will not be enabled.

• Use the same communications settings for the Sensor Controller and the external device.• Do not input signals to Ethernet from an external device while setting the Ethernet system settings.• If the operation mode is set to Multi-line Random-trigger Mode, the Controller address cannot be set for line 1 onward.

(The same setting for line 0 is used.)

IMPORTANT

Note

IMPORTANT



256

3 Set the following items.UDP

• An FH-series Sensor Controller with four or eight Camera inputs has two Ethernet ports.Set the settings for the two Ethernet ports as follows:• Communications Module settings

Use the same setting for both ports.• IP address settings

Set a different IP address for each Ethernet port.The IP address for the top Ethernet port is set in [Address setting], and the IP address for the bottom Ethernet port is set in [Address setting 2]. By using both Ethernet ports simultaneously, you can use one for PLC Link, non-procedure, Ethernet, or IP communications with a PLC and the other for FTP or remote operation communications with an external device.



Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices


Address Settings (FH- -10/20 or FZ5 Only)Set the IP address of the top Ethernet port on the Sensor Con-troller.


Set the IP address of the Sensor Controller.When [Obtain an IP address automatically] is selected, the IP address of the Sensor Controller will be automatically obtained.When [Use the following IP address] is selected, set the IP address, subnet mask, and the default gateway address.

IP address



Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]


Default gateway



DNS server





258




IP address


Subnet mask0.0.0.0 to 255.255.255.255[255.255.255.0]

Default gateway


DNS server




2

Methods for C

onnecting and Com

municating w

ith External D

evices


Input/Output setting

Input mode [Normal] This item cannot be changed.

Input form [ASCII] This item cannot be changed.

UDP

Output IP address


Input the output destination IP address.

Input port No.

0 to 65535[9600]

Set the port No. to use for data input with the Sensor Control-ler.Set the same number as on the host side.

Output port No.

0 to 65535[−1]*1

*1: When using the same port as the input port.

Set the port No. to use for data output with the Sensor Control-ler.Set the same number as on the host side.

TCPInput port No.

0 to 65535[9876]

Set the port No. to use for data input with the Sensor Control-ler.Set the same number as on the host side.

TCP Client

TCP Server


Input the connection destination IP address.

Port No.0 to 65535[9876]

Set the port No. to use for data I/O with the Sensor Controller.Set the same number as on the host side.

• If the operation mode is set to Multi-line Random-trigger Mode, set a different I/O port number for each line.• Change the IP address and subnet mask for [Address setting] and [Address setting 2] as required so that each

designate a different network address. If the same network address is specified, communications may not be performed correctly.

• Be sure to change the output IP address from its factory default value in accordance with your network environment.


IMPORTANT



260

Connecting via RS-232C


2 From the tree view on the left, select [System Settings] and then select [Communication] − [RS-232C/422 (Normal)] or [RS-232C/422 (Normal (Fxxx series method))].The RS-232C window is displayed.

3 Set the following items.

• Input signals cannot be handled during setting of communications specifications. However, the input status can be checked with [Confirmation].Reference: Testing Communications (p.267)

• Data output via serial communications is suspended while communications specifications are being set.


Interface• [RS-232C]• RS-422

Use the same communications specifications as the external device.

Baud rate [bps]*1

• 2400• 4800• 9600• 19200• [38400]• 57600• 115200


Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

*1: If a baud rate of [38400 bps] or higher is selected, effective communications may not be possible depending on the cable length because speeds of over 20 Kbps are not defined in RS-232C standards. In this case, set the baud rate to [19200 bps] or lower.


Data length [bit]• 7• [8]


Parity• [None]• Odd• Even

Stop bit [bits]• [1]• 2

Flow control[None]

Flow control is not performed with software. If the time in which there is no response from external devices reaches the timeout setting time, a timeout error occurs and an error message is displayed in the window. The parallel interface ERROR signal also turns ON.

Xon/XoffFlow control is performed with software. Data is sent according to the Xon/Xoff codes from external devices.

Timeout [s]1 to 120[5]

Set the time in which a timeout error will occur.

Delimiter• [CR]• LF• CR+LF





262

Output Data Settings (Processing Item Registration)Use the following procedures to set the items to output and the output format for the non-procedure protocol.




2 Click [Data Output] in the processing item tree.

3 Click [Append].The [Data Output] processing item is appended at the bottom of the unit list (flow).

4 Click the [Data Output] icon ( ) and set the data output items and data format.Refer to the following reference for details on the settings.Reference: Registering the Items To Output (p.263)

When outputting characters read by a processing item such as Barcode, these settings are set in the processing item used to read the characters (Character Inspection, Barcode, or 2DCode).Refer to the descriptions for each processing item for details on the character output settings and output format.• Reference: Character Inspection in the Vision System FH/FZ5 Series Processing Item Function Reference Manual

(Cat No. Z341)• Reference: Barcode in the Vision System FH/FZ5 Series Processing Item Function Reference Manual (Cat No. Z341)• Reference: 2DCode in the Vision System FH/FZ5 Series Processing Item Function Reference Manual (Cat No. Z341)

• Data is output in the order that data output is registered in the measurement flow, i.e., the timing is different for each data output processing item. (Data output is executed in the order that it is executed in the measurement flow.) Reference: Outputting the Output Data (p.23)

Note

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices


Set expressions for the data to output.Up to 8 expressions from 0 to 7 can be set in each unit.






Specify the processing items, measurement results, and measurement data in the expression. You can also perform arithmetic or function calculations on the measurement data before it is output.





264

Output Format (Data Output)



3 In the Output Setting Area, select the communications method.

4 Select the output format in [Format setting].


[RS-232C/RS-422] Communications are performed via a RS-232C/RS-422 connection.

Ethernet Communications are performed via the Ethernet.


[ASCII]Outputs ASCII text. Refer to Character Code Table in the FH/FZ5 Series Image Pro-cessing System User’s Manual (Cat No. Z340).

BinaryOutputs binary data. Measurement values are multiplied by 1,000 and output is contin-uous with 4 bytes per data item.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• When the [ASCII] Output Format Is SelectedWhen [ASCII] is set as the output format, set the following format settings.When [Binary] is set as the output format, no settings are needed.


Digits of integer 0 to [10]

Specify the digits of the integer part including the sign. For positive numbers, the plus sign is not output.Example:Setting: 4 digits, Data: −5619“−999” would be output.

Digits of decimal 0 to [4]Specify the number of output digits in the decimal part. Lower decimal digits are rounded up before the data is output. When 0 is selected, the decimal digits will be rounded off.

Minus• [−]• 8

Select what is displayed in the sign digit for a negative num-ber.

Plus• [none]• +

Select what is displayed in the sign digit for a positive num-ber.

0 suppress• Available• [OFF]

Select the method for adjusting when there is a blank to the left of the output data.Available: Insert 0 into the blank digits.OFF: Insert a space for unused character.Example: If the integer section is set to 5 digits and the deci-mal section is set to 3 digits, the data is 100.000Available: 00100.000OFF: _100.000 (_ represents a space)

Field separator

• OFF• [Comma]• Tab• Space• Delimiter

Select the separator for output data.*1: The delimiter is obtained from the system.

Record separator

• OFF• Comma• Tab• Space• [Delimiter]

Select the separator for each time data is output.*1: The delimiter is obtained from the system.



266

5 If you have selected [Ethernet] for the [Communication method], perform the Ethernet settings.


[Refer System (Ethernet)]

The settings of the Ethernet View are applied.One of the following Ethernet Views is used to make the settings.PLC Link Communications SettingsReference: Communications Specifications Settings (p.156)Ethernet Non-procedure Communications SettingsReference: Communications Specifications Settings (p.255)

The following IP address

Output IP addresses Enter the output IP address.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Testing CommunicationsYou can check whether the EtherNet/IP communications settings are correct.If communications cannot be performed even after set up the communications, use the following procedure to check the settings and the communications status.

Ethernet Communications

Before Performing a Communications TestThis example assumes that [Normal (UDP)] is selected as the Communications Module.Stop the program on the PLC when you check the communications settings.


Checking the Communications StatusUse the ping command to check if the Sensor Controller exists on the Ethernet network.Use this to determine if the Sensor Controller’s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network.


1. On the Main Window, select [Tool] − [System Settings].

In the tree view on the left, select [System Settings] − [Communication] − [Ethernet Normal (xyz)]. (“xyz” depends on the Communications Module.)


3. Set the IP address of the PLC or other external device in [Output IP address].

4. Set the port numbers to use for data I/O with the PLC or other external device in [Input port No.] and [Output port No.].

Set the same number as the number for the PLC or other external device.

5. This completes the Controller settings.

Note



268

1 Connect the Sensor Controller and computer with an Ethernet cable.Set the left segments of IP address of the computer to the same values as the Controller and set only the right segment to a different value.











Computer 10.5.5.101


2

Methods for C

onnecting and Com

municating w

ith External D

evices

RS-232C/422 Communications

Before Performing a Communications TestThis example assumes that [Serial (RS-232C/422)] − [Normal] or [Normal (Fxxx series method)] is selected as the Communications Module.Stop the program on the PLC when you check the communications settings.


If the character string was not sent or received, check the following:• Are the communications settings correct for the connected device?• Is the cable connected?• Are all cables wired correctly?


1. On the Main Window, select [Tool] − [System Settings]. From the tree view on the left, select [System Settings]

and then select [Communication] − [RS-232C/422 (Normal)] or [RS-232C/422 (Normal (Fxxx series method))].

2. Click the [Confirmation] tab.

Reception Confirmation:3. Send an ASCII character string to the Sensor Controller

from the PLC or other external device.4. The command received from the PLC or other external

device will be displayed here, following [Receive].

Transmission Confirmation:5. Click the button to the right of [TEST STRING].6. Enter the character string (12 characters or less) that you

want to send to test communications. Select [Local echo] if you want to perform an echo check of the sent character string.

7. Click the [Transfer] button to send the input character string to the PLC or other external device.

8. If [Local echo] was selected, the character string that was sent will be displayed after [Send].

9. Confirm that the character string was received by the PLC or other external device.



270

Output Items

Measurement Results That You Can Output with the Data Output Processing Item


External Reference Table for the Data Output Processing Item

By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function..






136 Communications method Set/Get0: Ethernet1: RS-232C/RS-422

137 Output format Set/Get 0: ASCII, 1: Binary

138 Digits of integer Set/Get 1 to 10

139 Digits of decimal Set/Get 0: 0 to 4:4

140 Minus Set/Get 0: −, 1:8

141 Field separator Set/Get0: OFF, 1: Comma, 2: Tab, 3: Space4: Delimiter

142 Record separator Set/Get0: OFF, 1: Comma, 2: Tab, 3: Space4: Delimiter

143 0 suppress Set/Get 0: No, 1: Yes

144 to 147

Output IP Address 1 to 4 (only when Ethernet is selected for the commu-nications method)

Set/Get Destination IP addresses

149

Output IP Address Set-ting (only when Ethernet is selected for the com-munications method)

Set/Get 0: Reference to system, 1: Individual specification

150 Output form (decimal) Set/Get 0: Fixed point, 1: Floating point

151 Offset Set/Get 0 to 99999

152Number of output data items (PLC Link commu-nications only)

Set/Get 8 to 256

153 Plus Set/Get 0: No, 1: +

1000 to 1007 Data 0 to Data 7 Get only• ASCII: -99999999.9999 to 999999999.9999• Binary: -2147483.648 to 2147483.647

If you are using external reference numbers 5 to 12 on an FZ4 or earlier model, use 1000 to 1007 on the FH/FZ5.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Command FormatsThis section explains the formats of commands used in the non-procedure (normal) method.

EthernetFor Ethernet (UDP) connections, delimiters are not required at the commands. Also note that there are no delimiters for responses.For Ethernet (TCP) connections, delimiters are required at the commands. Also note that there are delimiters for responses.As with scene number acquisition commands, when acquisition data and an OK response exist next to each other, the acquisition data and the OK response are sent as separate packets.

Input Format Example (When Using IMAGEDISPCOND To Get the Display Status)Command Format

Response Format

Japanese characters cannot be used. To load a scene or other data, set the file name beforehand using characters other than Japanese.

• The OK response for [Normal (Fxxx series method)] communications is compatible with the communications method for F -series Vision Sensors.The timing of the OK response when the Sensor Controller receives a MEASURE command with the [Normal (Fxxx series method)] communications method (Refer to Communications Module Settings (Startup Settings) (p.254)) is the same as the timing for an F -series Vision Sensor.

• With serial data output (when Ethernet output is set), up to 128 processing units can be registered. However, not all data may be received depending on the network environment being used, computer performance, and the software for receiving data.

IMPORTANT

Note

Measurement completion (Command

Completion)


Command received.

Measurement results


Command acknowledged.

MEASURE

OK

Command

Response

Non-procedure Communications Non-procedure Communications (Fxxx-series Method)

OKResponse

Measurement results

MEASURECommand

Measurement completion

(Command Completion)

An OK response is returned when the Controller receives the command.

An OK response is returned when execution of the command is completed.



272

Serial Interface (RS-232C/422 Connection)Example of Input Format (SCENE Command)

Enter a delimiter at the end of commands.In this manual, delimiters are expressed with .

Separate parameters with spaces. (Not required before delimiters.)In the following cases, an error occurs. When an error occurs, an error end is returned as the return value.• When non-existing commands are specified• When the number of parameters is incorrect• When the range of the parameters is incorrect• When the content of parameters is incorrect• When operation cannot be ended normally with an operation command

Commands can be input and measurement results can be output only when the Main Window is displayed on top and the BUSY signal is OFF. When using only serial commands (non-procedure), you can use the Fxxx-series method to recognize when execution of a command has been completed (i.e., when the BUSY signal turns OFF). Commands are not acknowledged while setting dialog boxes or the Edit Flow Dialog Box is displayed (excluding [Serial - Confirmation]). If data is being output after processing measurements on the Main Window, data output will be continued to the end even if you change to the Edit Flow Dialog Box or other dialog boxes. Commands are not acknowledged when windows other than the Main Window are displayed.

S C E

Scene number (3 digits max.)

CRN E

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Command ListThis section explains the input format for each command used for serial non-procedure (normal) communications. Commands are input with ASCII text. Both lowercase and uppercase letters can be used. For command details, refer to Non-procedure Command Details (p.397).

Execution Commands


Command Abbreviation Function Reference

BRUNCHSTART BFUBranches to the start of the measurement flow (pro-cessing unit 0).

Reference: (p.400)

CLRMEAS NoneClears all of the measurement values of the current scenes.

Reference: (p.400)

CPYSCENE CSD Copies the scene data. Reference: (p.401)

DATASAVE NoneSaves System + Scene group data in the Sensor Con-troller's memory.

Reference: (p.406)

DELSCENE DSD Deletes the scene data. Reference: (p.409)

ECHO EECReturns an arbitrary string as it is to the external device, which has sent the string.

Reference: (p.415)

IMAGEFIT EIFReturns the display position and display magnification to their default values.

Reference: (p.421)

IMAGESCROLL EISShifts the image display position by the specified amount.

Reference: (p.426)

IMAGEZOOM EIZZooms the image display in or out by the specified fac-tor.

Reference: (p.432)

MEASURE M

Performs one measurement. Reference: (p.444)

Starts continuous measurement. Reference: (p.444)

Completes continuous measurement. Reference: (p.445)

MEASUREUNIT MTU Executes a test measurement for the specified unit. Reference: (p.446)

MOVSCENE MSD Moves the scene data. Reference: (p.447)

REGIMAGE RID

Registers the specified image data as a registered image.

Reference: (p.457)Loads the specified registered data as a measurement image.

RESET None Restarts the Sensor Controller. Reference: (p.458)

TIMER TMRExecutes the specified command string after a speci-fied delay.

Reference: (p.473)

UPDATEMODEL UMD Re-registers the model data with the current image. Reference: (p.476)

USERACCOUNT UADAdds a user account to a specified group ID.

Reference: (p.478)Deletes a specified user account.


DIPORTCOND DPC Gets the ON/OFF status of all parallel DI terminals Reference: (p.413)

IMAGEDISPCOND IDCGets the image mode for the specified Image Display Pane.

Reference: (p.419)



274


IMAGESUBNO ISNGets the image currently displayed on the specified Image Display Pane.

Reference: (p.428)

IMAGEUNITNO IUNGets the unit number currently displayed on the speci-fied Image Display Pane.

Reference: (p.430)

INPUTTRANS-STATE

ITSGets the input status (enabled/disabled) for the Com-munications Modules.

Reference: (p.436)

LAYOUTNO DLNGets the number of the layout that is currently dis-played.

Reference: (p.439)

LOGINACCOUNT LAIGets the user name for the currently logged in user account.

Reference: (p.441)

LOGINACCOUNT-GROUP

LAGGets the affiliation group ID for the currently logged in user account.

Reference: (p.443)

OPELOGCOND OLC Gets logging operation state. Reference: (p.448)

OUTPUTTRANS-STATE

OTSGets the output status (enabled/disabled) to external devices.

Reference: (p.450)

PARAALLCOND PACGets the ON/OFF status of all parallel terminals except for DI terminals

Reference: (p.452)

PARAPORTCOND PPCGets the ON/OFF status of the specified parallel I/O ter-minal.

Reference: (p.454)

SCENE S Gets the current scene No. Reference: (p.459)

SCNGROUP SG Gets the scene group No currently in use. Reference: (p.461)


DOPORTCOND DPC Sets the ON/OFF status of all parallel DO terminals Reference: (p.414)

IMAGEDISPCOND IDCSets the image mode for the specified Image Display Pane.

Reference: (p.419)

IMAGESUBNO ISNSets the image to be displayed on the specified Image Display Pane.

Reference: (p.428)

IMAGEUNITNO IUNSets the unit number to be displayed on the specified Image Display Pane.

Reference: (p.430)

INPUTTRANS-STATE

ITSEnables/disables inputs to the Communications Mod-ules.

Reference: (p.436)

LAYOUTNO DLN Sets the layout number and changes the image. Reference: (p.439)

LOGINACCOUNT LAIChanges the user account used by the user currently logging in.

Reference: (p.441)

OPELOGCOND OLC Sets logged operation state. Reference: (p.448)

OUTPUTTRANS-STATE

OTS Enables/disables outputs to external devices. Reference: (p.450)

PARAALLCOND PACSets the ON/OFF status of all parallel terminals, except for DO terminals

Reference: (p.452)

PARAPORTCOND PPCActivates/deactivates the specified parallel I/O termi-nal.

Reference: (p.454)

SCENE S Switches scene No. currently being used. Reference: (p.459)

SCNGROUP SG Switches the scene group number. Reference: (p.461)



2

Methods for C

onnecting and Com

municating w

ith External D

evices



File Load Commands


DATALOGCOND DLC Gets the conditions that are set for data logging. Reference: (p.402)

DATALOG-FOLDER

DLF Gets the defined data logging folder name. Reference: (p.404)

DATE None Gets the current date and time. Reference: (p.407)

DIOFFSET DIO Gets the parallel DI terminal offset data that is set. Reference: (p.410)

IMAGECAPTURE-FOLDER

ICF Gets the defined screen capture folder name. Reference: (p.417)

IMAGELOG-FOLDER

ILF Gets the defined image logging folder name. Reference: (p.422)

IMAGELOG-HEADER

ILH Gets the set image logging prefix. Reference: (p.424)

SYSDATA None Gets settings related to image logging. Reference: (p.467)

UNITDATA UDGets the parameters and/or measurement values of specified processing units.

Reference: (p.474)

VERGET None Gets system version information. Reference: (p.480)


DATALOGCOND DLC Sets the data logging conditions. Reference: (p.402)

DATALOG-FOLDER

DLF Sets the data logging folder name. Reference: (p.404)

DATE None Sets the date/time. Reference: (p.407)

DIOFFSET DIO Sets the parallel DI terminal offset data. Reference: (p.410)

IMAGECAPTURE-FOLDER

ICF Sets the screen capture folder name. Reference: (p.417)

IMAGELOG-FOLDER

ILF Sets the image logging folder name. Reference: (p.422)

IMAGELOG-HEADER

ILH Sets the image logging prefix. Reference: (p.424)

SYSDATA None Changes settings related to image logging. Reference: (p.467)

UNITDATA UD Sets the parameters of specified processing units. Reference: (p.474)


BKDLOAD None Loads System + Scene group 0 data. Reference: (p.398)

SCNLOAD None Loads the scene data. Reference: (p.463)

SGRLOAD None Loads the scene group data. Reference: (p.465)

SYSLOAD None Loads system data. Reference: (p.471)



276

File Save Commands


ALLIMAGESAVE AISSaves all the image data in the image buffer (specified with [main unit logging image]).

Reference: (p.397)

BKDSAVE None Saves System + Scene Group 0 data in a file. Reference: (p.399)

IMAGECAPTURE EIC Captures the screen. Reference: (p.416)

IMGSAVE None Saves the image data. Reference: (p.434)

LASTIMAGESAVE LIS Save the last image input. Reference: (p.438)

SCNSAVE None Saves the scene data. Reference: (p.464)

SGRSAVE None Saves the scene group data. Reference: (p.466)

SYSSAVE None Saves system data. Reference: (p.472)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output FormatIf the processing unit [Data Output] is set in a scene, measurement results are sequentially output starting from the smallest data No. set in [Setting] of [Data Output]. You can also place more than one Data Output Unit in the measurement flow. You can then use record separators to identify the data for individual Data Output Units.Reference: Output Format (Data Output) (p.264)

Outputting ASCII Data

Set the output format as [ASCII] in [Output form] of the [Data Output] processing item.The default setting is [ASCII].

Output Format

Example: Integer digits: "5 digits", decimal places: "3 digits", negative numbers: "-", field separator: "comma", record separator: "delimiter"

The range of values that can be output is as follows:−999999999.9999 ≤ Measurement value ≤ 999999999.9999When measurement value < −999999999.9999, "−999999999.9999" is output.When measurement value > 999999999.9999, "999999999.9999" is output.When JG (Judgement) is set, the next values are output.OK: 1NG: −1

The output format, number of digits, data separator, etc., can be changed if necessary.Refer to Output Data Settings (Processing Item Registration) (p.262)

• Field separators are not output if there is no following data.• Lower decimal digits are rounded up before the data is output.

After the measurement is completed, data output will not stop until all of the data is output. Data output will not be interrupted.

Note

Note

Note



278

Outputting Binary Data

Set the output format as [Binary] in [Output form] of the [Data Output] processing item.

Output Format

The measurement data is multiplied by 1000 and output is continuous with 4 bytes per data item.Negative numbers are output in 2's complement format.2's ComplementRefer to Definitions of Basic Terms in the FH/FZ5 Series Image Processing System User’s Manual (Cat No. Z340).

Example: When Data 0 is "256.324", and data 1 is "-1.000"

The range of values that can be output is as follows:−2147483.648 ≤ Measurement value ≤ 2147483.647When measurement value < −2147483.648, "−2147483.648" is output.When measurement value > 2147483.647, "2147483.647" is output.When JG (Judgement) is set, the next values are output.OK: 1000 (1 × 1000)NG: −1000 (−1 × 1000)

Unlike ASCII output, binary output has no separators between data, such as field separators or record separators.Refer to Output Format (Data Output) (p.264)

After the measurement is completed, data output will not stop until all of the data is output. Data output will not be interrupted.

Note

Note


Non-procedure Communications Troubleshooting

2

Methods for C

onnecting and Com

municating w

ith External D

evices

Cannot Input to the Sensor Controller


Slow Operation


No response is received after sending serial commands.

There is a problem with the wiring.Check the wiring.Check the cable connections.

There is a problem with the communi-cation specification settings.

Make sure that the settings are correct.

Responses are no longer received after sending serial commands (but communications were working previ-ously).

You are attempting to send commands while the BUSY signal is still ON.

Send commands only when the BUSY signal is OFF.



The Vision Sensor is in Edit Mode. Change to RUN or ADJUST Mode.


There is absolutely no data output.

The output IP address is incor-rect.(Ethernet communications only)

Set the output IP address correctly.

There is a problem with the wiring or a cable has been disconnected.

Check the wiring.Check the cable connections.


You have not added any Data Output processing items in the measurement flow.

You have not added any Data Output processing items in the measurement flow.

The [Output] option is not selected. Select the [Output] option.

The target output device for the Data Output Unit is incorrect.

Make sure that the setting is correct.

Data is sometimes output, but some-times not.

A cable has been disconnected or there is a connection problem.(RS-232C/422 communications only)

Check the cable connections.

The measurement commands are not being received.(Ethernet communica-tions only)

Check to confirm that an OK response is being returned after sending a mea-surement command.

Output is unstable.There is no terminating resis-tance.(Ethernet communications only)

Output stability may be improved by adding terminating resistance when using RS-422 communications.


Response and data output is slow.The baud rate is too low for the amount of data being transferred.

Increase the baud rate for communica-tions or use a different communications method.



280

Parallel CommunicationsThis section describes the required communication settings, communication specifications, input/output format, and communication timing chart for parallel communication between the Sensor Controller and external devices.

Communications Processing FlowThe Sensor Controller communicates with external devices via a parallel interface.

I/O Signals and Data for Communicating with External Devices

This section describes the basic connections and signal flow with external devices.

InputsYou can input the following signals to the Sensor while the Main Window is displayed.

• Measurement Trigger (STEP signal)Measurement is performed once when STEP signal turns ON. (Single Measurement)

• Command Input (DI0 to DI7 Signals)You can send commands and control the Sensor by turning the DI0 to DI7 signals ON and OFF.Refer to the following section for details on Sensor control commands.Reference: Command Formats (p.310)

OutputsEach time measurement is performed, the measurement results are output.The following measurement results can be output:

• Overall Judgement (OR signal)The results of more than one processing item are judged.The overall judgement will be NG if even one of the individual judgement results is NG.*1*1: With the default settings, output is performed even if the overall judgement result is NG, but this can be changed so that

output is performed only when the overall judgement result is OK. Reference: Setting the Output Signal Specifications (p.285)

• Parallel Data Output (DO0 to DO15 Signals)The measured values of processing items or the calculation results of expressions are output.

• Parallel Judgement Output (DO0 to DO15 Signals)The measured values of the processing items or calculation results are judged and the judgement results are output.

Note that if DI7 is ON after the command is executed, the command will be executed repeatedly.Reference: DI0 to DI7 (Command Execution) Timing (p.306)

Trigger sensor

External device

Input Outputs

Output Signals• Overall Judgement (OR signal)• Parallel Judgement Output (DO0 to DO15)• Parallel Data Output (DO0 to DO15)

Input signal• Measurement Trigger (STEP)• Command input (DI0 to DI7)

Sensor Controller

PLC

External device

IMPORTANT

Parallel Communications Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Setup ProceduresThe following settings are required to use parallel communications.

If the operation mode is set to Multi-line Random-trigger Mode and the number of lines to use simultaneously was increased, the signals, control, and output that can be performed is different from when only a single line is used, as described in the following table.For the signals that can be used and for differences in assignments, refer to I/O Signals (p.299).

FH


Differences from when only a single line is used (i.e., when the operation mode is not set to Multi-line Trigger Mode)

2 lines• The usable functions are the same as for when only a single line is used.• DO signals are divided as follows: Line 0: DO0 to DO7, Line 1: DO8 to DO15

3 or 4 lines

• Parallel data output and parallel judgement output cannot be performed (DO signals cannot be used).

• Handshaking output cannot be used (the GATE signal and DSA signal cannot be used).• An encoder cannot be used.

5 to 8 lines

• The RUN signal cannot be used. The same ERR signal is used for all lines.• Parallel data output and parallel judgement output cannot be performed (DO signals

cannot be used).• Handshaking output cannot be used (the GATE signal and DSA signal cannot be used).• An encoder cannot be used.

FZ5


Differences from when only a single line is used (i.e., when the operation mode is not set to Multi-line Random-trigger Mode)

2 lines• The RUN signal cannot be used. The same ERR signal is used for all lines.• DO signals are divided as follows: Line 0: DO0 to DO7, Line 1: DO8 to DO15

3 to 8 lines The FZ5 does not support using 3 to 8 lines (operation will not be dependable).


· · · The communication method to be used is determined by selecting a communi-cation module.Reference: Communications Module Settings (Startup Settings) (p.282)

↓


· · ·The following communications specifications are set for the communications method of the Communications Module that was selected in step 1.• Output control type selection• Output signal operation settings

Reference: Communications Specifications Settings (p.283)

↓


· · ·Set the data to output and register it in an Output Unit.The Output Unit is placed in the measurement flow in the same way as for other processing items.There are two types of Output Units for parallel communications:• Parallel data output• Parallel judgement output

Reference: Output Data Settings (Processing Item Registration) (p.290)

↓

4. Testing communications · · · If communications are not performed normally, check the communications spec-ifications settings that were made in step 2.Also, look at the communications status of all I/O signals to make sure that the wiring is correct.Reference: Testing Communications (p.297)If that does not solve the problem, refer to the troubleshooting section.

Note

Parallel Communications281


282



2 Select [System setting] − [Startups] − [Startup setting] on the Multiview Explorer on the left and then click [Communication].




6 When the Sensor Controller has restart, operation will be performed for the default settings of the specified Communications Module.


Parallel Select this Communications Module to perform parallel interface communications.Standard Parallel I/O

You can save the Communications Module settings to a file.Select [Save to file] from the [Function] menu, and then select [System data] or [System + Scene group 0 data] to save the settings data to a file.Refer to Saving the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340).

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Communications Specifications SettingsSet the communications specifications, such as the data output method and data signal operation.If communications cannot be performed even after setting these communications settings, check the settings and the communications status. Reference: Testing Communications (p.297)

Selecting the Output Control Type

You can select the data output timing control method to use so that you can synchronize the timing of output with the external device.

Types of Output Control

• NoneAfter measurements are completed, the Sensor outputs the measurement results without synchronizing with the external device.Or, output is performed based on the GATE signal. Adjust the external device so that it reads the measurement results when the GATE signal is output.

*1: Overall judgement (OR) output is output when measurement is completed, regardless of when the Output Unit was executed.

*2: You can change the settings of when the GATE signal is turned ON after the measurement data is output and the length of time that the GATE signal will remain ON. Reference: Communications Specifications Settings (p.283)

• HandshakingMeasurement results are output only after it is determined that the external device can receive data.Handshaking is effective for sequentially outputting many measurement results and it is a reliable way to transfer data.Reference: Data Output Control with Handshaking (p.27)

• Synchronization OutputThe measurement results are output after the STEP signal has turned ON for the number of delays set in [Number of delay]. The output timing of the measurement results from the Sensor can be offset according to the actual timing of processing on the line.

• Before you set the communications specifications, select the Communications Module to use with the Sensor Controller in the startup settings. Reference: Communications Module Settings (Startup Settings) (p.57)

• After you select the Communications Module, save the settings to the Sensor Controller and restart the Sensor Controller. If you do not restart the Sensor Controller, the selected Communications Module will not be enabled.

Input signals cannot be handled during setting of communications specifications. However, the input status can be checked with [Confirmation].Reference: Testing Communications (p.297)

The GATE signal will not be output if there is no data set for parallel judgement output and parallel data output.If only the OR signal is output, read the OR signal when the BUSY signal turns OFF.

IMPORTANT

Note

External deviceSensor Controller

(2) GATE signal*2

(1) Measurement processing and results output*1 (DO0 to DO15)

Note



284

Example: Sequential Feed Line that Uses a Star WheelThe discharge timing for when a defective part is found and the measurement results output timing can be synchronized.

• When synchronized output is enabled in the communications specifications, the steps will be counted according to the number of times the STEP signal turns ON. Set the settings so that results are output only once for each measurement. (Place only one Output Unit in the measurement flow (either Parallel Judgement Output or Parallel Data Output). For Parallel Data Output, set only one output item.)

• Designate only the STEP signal for measurement trigger input.If measurements are performed using serial commands and continuous measurement, the output time will not match and this can cause Sensor malfunctions.

3rd

EncoderResult output

Discharge deviceGATEDO

STEP

Set valueOutput control: Synchronous outputDelay steps: 4

OK

NG

Sensor Controller

4th2nd

1st

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Setting the Output Signal Specifications

You can change the operation of signals output with parallel communications.

Changing the Judgement Output ON Conditions (Output Polarity)The ON conditions for the OR signal and the DO0 to DO15 signals can be set to turn ON the signals when the judgement results are OK or when they are NG. The default setting is [ON at NG].This setting can be changed by setting the [Output polarity] in the communications specifications. Reference: Reference: Communications Specifications Settings (p.288)

Setting the Timing to Turn OFF the Judgement Output Signal (OR) (One-shot Output)One of the following two modes can be selected for the output timing of the measurement results OR signal after the measurement results are finalized, depending on the connected external device.This setting can be changed by setting [One-shot OR signal] in the communications specifications. Reference: Communications Specifications Settings (p.288)

• One-shot Output Disabled (Default)The OR signal stays ON until the judgement changes.

• One-shot OutputOR signal output stays ON for a certain amount of time, and then it is turned OFF again.The time to maintain the OR signal output can be specified. (Setting range: 0.1 to 1000.0 ms)

Held until the next judgement result is output.Overall judgement (output polarity: ON for NG)

STEP signalOFF

ON

BUSY signalOFF

ON

OFF

ONOR signal NG OK

ON while the measurement process is being executed.

The signal is turned OFF when the BUSY signal turns ON.

One-shot output time Turns OFF.

STEP signalOFF

ON

BUSY signalOFF

ON

OFF

ON

Overall judgement (output polarity: ON for NG)

OR signal NG OK





286

Outputting the STGOUT and SHTOUT SignalsThese functions are supported by the FH-series Sensor Controllers only.With parallel communications, the STGOUT signal (strobe trigger output) and SHTOUT signal (shutter output) cannot be output at the same time.Select which signal to output based on your needs.

1 On the Main Window, select [System Settings] − [Camera] − [Output Signal Setting] from the [Tool] menu.The output signal settings dialog box is displayed.

2 Select the signal to output in the [Common] area.

Setting item Setting value [Factory default] Description

Output signal[STGOUT]

Uses the STGOUT signal line as the STGOUT signal.When STGOUT is selected, the SHTOUT signal cannot be used.

SHTOUTUses the STGOUT signal line as the SHTOUT signal.When SHTOUT is selected, the STGOUT signal cannot be used.

• In Multi-line Random-trigger Mode, this output signal selection can be used to set the output signal for line 0 only. The setting for line 0 will be used for all other lines.

• The STGOUT signal output settings must be set in the [Electronic flash setting] for each Camera Image Input processing item.

SHTOUT signals output through EtherCAT communications are not affected by this setting.

Note

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

SHTOUT Signal Settings: [Output Signal Setting]These functions are supported by the FH-series Sensor Controllers only.This setting sets the SHTOUT signal that is output when the Camera exposure is completed. By detecting when the exposure is completed using the SHTOUT signal, you can minimize the amount of time that the workpiece must be kept still for imaging and you can move the Camera or workpiece immediately after the exposure is completed.

1 On the Main Window, select [System Settings] − [Camera] − [Output Signal Setting] from the [Tool] menu.The output signal settings dialog box is displayed.

2 Set the SHTOUT signal for each line in the [Line settings] area.

3 Click [Apply].


SHTOUT delay [μs] 0 to 1000 [0]Set the delay time until the SHTOUT signal turns ON after exposure is completed in 10 μs incre-ments.

SHTOUT width [μs] 40 to 10000 [5000]Set the SHTOUT signal output time in 10 μs incre-ments.

SHTOUT polarity• [Positive]• Negative

Set the pulse polarity of the SHTOUT signal.Positive: The SHTOUT signal turns ON when expo-sure is completed.Negative: The SHTOUT signal turns OFF when exposure is completed.

• If more than one Camera is connected, the SHTOUT signal will remain ON for the Camera with the longest exposure time.

• You cannot use the Shutter Output Signal when the image mode is set for a through image.• If you have registered more than one Camera Image Input processing unit in the measurement flow, the SHTOUT signal

will be turned ON for each Camera Image Input processing unit individually.• The SHTOUT signal will be output for as many times as imaging is performed when Camera Image Input HDR or

Camera Image Input HDR Lite processing item is used.• The SHTOUT signal that is output through EtherCAT communications is affected by this setting.

IMPORTANT



288

Communications Specifications Settings

Use the following procedure to select the type of output control, set the output signal operation, and set other parallel interface communications specifications.

1 On the Main Window, select [Tool] − [System Settings] − [Communication].

2 Select [System Settings] − [Communication] − [Parallel] from the tree view on the left.The Parallel View is displayed.

3 Click [Setting] to set the communications specifications.


2

Methods for C

onnecting and Com

municating w

ith External D

evices

4 Set the following items to define the communications specifications.

Setting item Setting value [Factory default] Operation

Output polarity

On at OKThe output is turned ON if the judgement is OK.For the overall judgement, the output is turned ON if all judgements are OK.

[On at NG]The output is turned ON if the judgement is NG.For the overall judgement, the output is turned ON if even one judge-ments is NG.

Output control

[None]Method to output measurement results without synchronizing with external devices.Reference: Output Control: None (p.314)

HandshakingMethod to output measurement results while synchronizing with exter-nal devices.Reference: Output Control: Handshaking (p.315)

Synchronization output

Method to output measurement results while synchronizing with line processing timing. The STEP signal is ignored the number of times set in [Number of delay], and measurement results are output when the STEP signal next turns ON. If through images are displayed, however, synchronization output cannot be used.Reference: Output Control: Synchronization Control (p.316)

Output period [ms]2.0 to 5000.0 ms[10.0 ms]

Valid only when [Output control] is set to [None].Set the cycle by which measurement results are output. Set the cycle so that the interval is equal to or longer than [Gate ON delay + Output time] and shorter than measurement interval. If the cycle is longer than the measurement interval, output timing will be delayed while mea-surement is being repeated.

Gate ON delay [ms]1.0 to 1000.0 ms [1.0 ms]

Set the time from when results are output to the parallel interface to when the GATE signal turns ON. Waiting time until data output is sta-ble.Set this so that it is longer than the external device delay time.

Output time [ms]1.0 to 1000.0 ms [5.0 ms]

This setting is enabled only when the [Output control] parameter is set to [None] or [Synchronized output].Set the GATE signal ON time.Set the time required for external devices to acquire measurement results.

Timeout [s]0.5 to 120.0 s [10.0 s]

• If handshaking is used for output control, a timeout error will occur if there is no response from the external device within the set timeout interval.

• When the DSA signal turns ON after measurements are completed• When the DSA signal turns OFF after the GATE signal turns ON• When the DSA signal turns ON after the GATE signal turns OFF• When using signals DI0 to DI6 and DI7 to execute a command, a

timeout error will occur if the time from when the ACK signal turns ON until the DI7 signal turns OFF exceeds the set timeout interval. (FH only)

Number of delay1 to 15 [1]

This setting is enabled only when the [Output control] parameter is set to [Synchronized output].Set the number of times that the STEP signal turning ON will be ignored before measurement results of the STEP signal are output.



290

*1: For Parallel Judgement Output, you can change the output polarity of each Parallel Judgement Output unit regardless of the value of this setting.

1 Click [Apply].The settings are confirmed and the Parallel View closes.

Output Data Settings (Processing Item Registration)Set the data to output with parallel communications.The following three types of data can be output with parallel communications:• OR signal• Parallel judgement output• Parallel data output

Data Output by Output Data Type

OR SignalThis signal outputs the overall judgement.You can determine the overall judgement by monitoring the status of the OR signal.After the measurement results are established, the OR signal will be output automatically if the overall judgement is NG.You can also set the signal to be output if the overall judgement is OK.Reference: Setting the Output Signal Specifications (p.285)

One-shot OR signal

ONAfter the measurement results are finalized, if the judgement output ON condition is met, the OR signal is turned ON for the one-shot output time. It is then turned OFF after the specified time has elapsed.

[OFF]The judgement is output after measurement results are finalized and the ON/OFF status of the OR signal is held until it is changed for the next measurement result.

Output time

When One-shot Output Mode is selected, this parameter sets the time that the OR signal is ON. (Setting range: 0.1 to 1000.0 ms)

Set the OR one-shot output time in the following range:External device OR signal read period (cycle time) − 1.0 ms < OR one-shot output time < Measurement trigger interval (measurement takt time) − 0.5 ms

• The OR signal is output automatically, even if no Output Units are set.• To perform Parallel Judgement Output or Parallel Data Output, you must register an Output Unit in the measurement

flow and set the required output details.• If you control from three to eight lines in Multi-line Random-trigger Mode, you cannot use Parallel Judgement Output or

Parallel Data Output.

Setting item Setting value [Factory default] Operation

IMPORTANT

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Parallel Data OutputThe measured values of processing items or the calculation results of expressions are output.Data items can be set from data 0 to data 7. Each item is output using the 16 bits from DO0 to DO15.

The data output specifications are as follows:• Only integers are output. Decimals are rounded off.• The range of values that can be output is as follows:

Binary format: −32768 to +32767BCD format: −999 to +999

If the measurement value is out of range, the actual measurement value is not output and the minimum or maximum value of the range is output instead.

Parallel Judgement OutputThe measured values of the processing items or calculation results are judged and the judgement results are output.Judgement results can be set from judgement 0 to judgement 15. Each result is output with 16 bits from DO0 to DO15.

Setting Up Parallel Data Output

The measured values of processing items or the calculation results of expressions are output.

Registering Parallel Output UnitsRegister the processing items for parallel data output in the measurement flow.


2 Select the [Parallel Data Output] processing item from the processing item tree.

The overall judgement gives the results of more than one processing item. As a result, the overall judgement will be NG if even one of the individual judgement results is NG.

Data type Measurement value that is below the possible output range

Measurement value that is above the possible output range

Binary A value of −32768 is output. A value of +32767 is output.

BCD A value of −999 is output. A value of +999 is output.

When the operation mode is set to Multi-line Random-trigger Mode, the parallel data output range is between -127 and 127 for binary data, and -9 and 9 for BCD data.

Note

Processing unit 0

Processing unit 1

Processing unit n

Overall judgement result

NG (OR signal: ON)

Individual judgement results

OK

NG

OK

If there is even one NG judgement, the overall judgement will be NG and the output will be turned ON.

Note



292

3 Click [Append].The [Parallel Data Output] processing item is appended at the bottom of the unit list (flow).

Data is output in the order that data output is registered in the measurement flow, i.e., the timing is different for each data output processing unit. (Data output is executed in the order that it is executed in the measurement flow.)

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Set the items to output.In an expression, set the data to output (i.e., the measured value of a processing item or the calculation results of an expression).Up to 8 expressions from 0 to 7 can be set in each unit.

1 Click the Parallel Data Output icon ( ).










294

Output Format (Parallel Data Output)

1 Click the [Parallel Data Output] icon ( ) in the measurement unit list (flow).


3 Select the output format in the output settings.

Output When Multiple Items Are SetThe items that are set for output data numbers 0 through 7 are output to the PLC reception buffer in ascending order, one data item at a time (16-bit units). Each time a data item is output, the GATE signal turns ON.*1

When this occurs, the first data item that was output to the PLC reception buffer (data 0) is overwritten by the next output data item (data 1).Therefore, the data output to the PLC reception buffer must be saved to PLC memory each time the GATE signal turns ON for each data item.

*1: The operation of the DSA signal depends on whether handshaking for output control is enabled.Reference: Data Output Control with Handshaking (p.27)

Setting value [Factory default] Description

[Binary]

Data is output as 2’s complement binary data.Information on 2’s ComplementRefer to Definitions of Basic Terms in the FH/FZ5 Series Image Processing System User’s Manual (Cat No. Z340).

BCD

Data is output expressing 1 digit with 4 bits and expressing a 3-digit integer and sign with 16 bits.• Bits 12 to 15

These bits give the sign. (positive: 0000, negative: 1111)• Bits 0 to 11

Every 4 bits express 1 digit from ones place (bits 0 to 3: 1st digit) to the hundreds place (bits 8 to 11: 3rd digit).

Note

16 bit Parallel data output

PLC

0: Measurement data 0


Reception buffer

Data output order

GATE signal

DO0 to DO15 signals

ON

OFF

Measurement data 0

Measurement data 7


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Registering Parallel Judgement Output Items

Use the following procedure to output the judgement results that are set for parallel output.

Registering Parallel Judgement Output UnitsRegister the processing items for parallel judgement output in the measurement flow.

1 Click [Edit flow] in the toolbar or on the Main Window.

2 Select the [Parallel Judgement Output] processing item from the processing item tree.

3 Click [Append].The [Parallel Judgement Output] processing item is appended at the bottom of the unit list (flow).

Data is output in the order that data output is registered in the measurement flow, i.e., the timing is different for each data output processing unit. (Data output is executed in the order that it is executed in the measurement flow.)

Note



296

Registering the Items To OutputIn an expression, set the target for judgement (i.e., the measured value of a processing item or the calculation result of an expression).Up to 16 expressions from 0 to 15 can be set in each unit.

1 Click the [Parallel Judgement Output] icon ( ) in the measurement unit list (flow).


3 Set the items in the output settings area.




5 Click the [...] button for the judgement condition, and then set the upper and lower limits to judge as OK.If the result data set in step 4 above is within the range set here, the result will be judged as OK.

6 Click the [...] button for the [Comment] box and enter an explanation of the expression.



2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Parameters (Parallel Judgement Output)1 Click the [Parallel Judgement Output] icon ( ) in the measurement unit list (flow).2 Click [Output parameter] in the Item Tab Area.3 Set the items in the output settings area.

4 For [Reflect to overall judgement], select whether to apply this processing unit’s evaluation result to the overall evaluation of the scene.

Testing CommunicationsUse the following procedure to check the communications status with the external devices connected with a parallel interface. You can check whether wiring and communications settings have been performed correctly.

1 On the Main Window, select [Tool] − [System Settings] − [Communication].2 Select [System Settings] − [Communication] − [Parallel] from the tree view on the left.

The Parallel View is displayed.

3 Click [Confirmation] to check the I/O status.


Output polarity• [System (parallel)]• Unit

Select whether to match the output polarity of the evaluation result to the system setting.Selecting [Unit] lets you set the output polarity of the evaluation result separately for each processing unit.

Output polarity• ON at NG• ON at OK

This setting is enabled when [Unit] is checked for [Output polarity].

Setting value [Factory default] Description

• [ON]• OFF

Enables choosing whether the judgment results of this processing unit is reflected in the scene overall judgment.



298

4 Change the contents to be sent.

When switching between ON and OFF is performed, the changed contents are displayed on the monitors of external devices. Make sure there are no problems.

5 Click [Close].

View Description

Input state

STEP0 to STEP7Only the settings for STEP0 and STEP1 are valid for an FZ5 Sensor Controller. The input status of each signal from the external device to the Controller

is displayed.When a signal is input, the background color changes to red.

DSA0, DSA1DI0 to DI7DI LINE0 to DI LINE2 Valid only for FH Sensor Controller.

Output state

RUN

The output status of each signal is displayed.When a signal is output, the background color changes to red.The output status from each signal of the Controller to external devices can be specified.Changes between ON and OFF and between 0 and 1 can be simulated without performing measurement.

ERRBUSYORGATEREADYACKDO0 to DO15

For the FZ5, DO0 to DO7 of line 1 are assigned to the DO8 to DO15 parallel terminals. Therefore, if you turn ON DO0 to DO7 to test line 1 communications, signals will be output on the DO8 to DO15 parallel terminals.

The status of the following signals for the FZ5 can be checked only on the [Communication confirmation] dialog box for line 0.• RUN, ERR, and BUSY

Note

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

I/O SignalsThe following tables list the signals that are used to control I/O for parallel communications.

Input Signals


OFF to ON ON to OFF

STEPMeasurement Trigger Input

Input measurement triggers from external devices, such as optic switches. Mea-surement is performed after synchronizing with the STEP signal turning ON (OFF to ON). A STEP sig-nal filter (filter initial set value: 100 μs) is set in STEP input.

Turn ON the signal to make a measurement.

Turn OFF the signal from the PLC when the FH/FZ5 turns ON the BUSY signal.

DSA (Used only for handshaking output control.)

Data Output Request signal

Use this signal (from the PLC) during handshaking to request from the FH/FZ5 the external output of the data output results from the execution of the measure-ment flow.

If this signal is ON when an Output Unit (Parallel Data Output Unit) in the mea-surement flow is executed, the Vision Sensor will out-put the data from the pro-cessing item.

Turn ON the signal (from the PLC) to externally output the data that results from measure-ment.Turn the DSA signal ON when the STEP signal is turned ON.If more than one output item is set in a single Out-put Unit, or if more than one Output Unit has been set in the measurement flow, turn the DSA signal ON again when the GATE signal turns OFF for the first data output.Reference: Time Charts (p.314)

Turn OFF the signal (from the PLC) when the FH/FZ5 turns ON the Result Completion (GATE) sig-nal.

DI0 to DI7Command Input signals

Inputs commands from the external device.

--- ---

DILINE0 to DILINE2 (FH only)

Command Input Line Specifica-tion signals

Specify the line number when inputting a command from an external device.You can use these signals in Multi-line Random Trig-ger Mode.

--- ---

ENC (Phase A, Phase B, or Phase Z)

Encoder Input (Phase A, Phase B, or Phase Z)

This is the encoder input signal.This signal is used only when [Use Encoder trig-ger] is set in the system settings.

--- ---



300

Output Signals


OFF to ON ON to OFF


This signal tells whether or not the Controller is in RUN Mode.

The signal turns ON when the Controller is ready for measurement and the RUN window is displayed.

The signal turns OFF in either of the following cases:• When in ADJUST

Mode• When the Controller

cannot perform measurements

BUSY Busy signal

This signal tells when commands and other external inputs cannot be acknowledged.Make sure this signal is OFF before you request a command.While this signal is ON, no com-mands will be accepted even if they are sent.Note:• The execution of commands or

other processing received through any other protocol can be detected.

• Just because this signal is ON does not necessarily mean that a command is being executed.

The FH/FZ5 turns ON the signal when it receives a command from the user (PLC). (The signal turns ON after the EXE signal turns ON.)


OROverall Judge-ment signal

Outputs the overall judgement. This is determined when the mea-surement is completed (BUSY sig-nal ON to OFF).*1: The [Output polarity] setting

determines whether this signal turns ON when the judgement result is OK or NG. Reference:

Setting the Output Signal Specifications (p.285)

*2: The OR signal is output only when the [Output] option is selected in the Adjustment Window.

The signal turns ON based on the judgement results when measure-ment is completed (i.e., when the BUSY signal turns OFF).

The status of the OR sig-nal is maintained until the next OR signal is output.You can set the one-shot output settings so that the OR signal turns OFF automatically after a set time.You can also turn OFF the OR signal by execut-ing the Clear Parallel OR+DO command.

DO0 to DO15

Data Output signals

These signals output the results for expressions set for a [Parallel Judgement Output] or [Parallel Data Output] Output Unit.

--- ---


2

Methods for C

onnecting and Com

municating w

ith External D

evices

GATEData Output Completion sig-nal


Depending on the flow that is set, the GATE output may be started while the BUSY signal is ON.The OR signal and GATE signal do not necessarily operate simul-taneously.

• No Handshaking:The signal turns ON after the FH/FZ5 executes the Output Unit (Parallel Data Output Unit or Parallel Judgement Output Unit) in the measurement flow*1 and preparations for data output have been completed.

• Handshaking:The signal turns ON after the FH/FZ5 executes the Output Unit (Parallel Data Output Unit or Parallel Judgement Output Unit) in the measurement flow,*1*2 the Result Set Request (DSA) signal is ON, and preparations for data output have been completed.


*2: The signal is output if a Parallel Judgement Output or Parallel Data Output processing item is set in the measurement flow.

• No Handshaking:The signal turns OFF after the set output time has elapsed.

• Handshaking:The signal turns OFF when the user (PLC) turns OFF the Result Set Request (DSA) signal .

READYMulti-input Ready

This signal tells when the STEP signal can be input when the multi-input function is used.Turn ON the STEP signal when the READY signal turns ON.When using the multi-input function, the next STEP signal is accepted only after the READY signal turns ON (i.e., when image input is completed).*1: If you use a Camera with Lighting

Controller, the time required for the READY signal to turn OFF may increase in comparison with not using a Camera with a Lighting Controller.For details, refer to Camera Image Input FH or Camera Image Input HDR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat No. Z341).

The signal turns ON when the STEP signal can be input.

The signal turns OFF*1 when the STEP signal cannot be input.*2: When through images

are being displayed, the READY signal will turn OFF, but the STEP signal can be input. Determine whether or not the STEP input is allowed based on the BUSY signal.


OFF to ON ON to OFF



302

SHTOUT (FH only)

Shutter Output signal

This signal tells when Camera exposure has been completed.This signal is output only when SHTOUT is selected as the output signal in the output signal settings of the system settings.• If more than one Camera is

connected, the signal will remain ON for the Camera with the longest exposure time.

• You cannot use the Shutter Output Signal when the image mode is set for a through image.

• If you have registered more than one Camera Image Input processing unit in the measurement flow, the SHTOUT signal will be turned ON for each Camera Image Input processing unit individually. Therefore, use Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow.

After the Camera expo-sure is completed, the signal turns ON after the time set for the [SHTOUT delay] in the output signal settings has elapsed.

The signal turns OFF after the time set for the [SHTOUT width] in the output signal settings has elapsed.

STGOUTStrobe Trigger Output

This is the trigger signal for the strobe.

After an external trigger input is received, the signal turns ON after the time set for the [STEP-STGOUT delay] in the electronic flash settings has elapsed.

The signal turns OFF after the time that is set for the [STGOUT width] in the electronic flash settings has elapsed.

ACK (FH only)

Command Completion Flag

This flag tells when DI command execution is completed.

The signal turns ON when execution of the DI command is completed.

The signal turns OFF when the user (PLC) turns OFF the DI7 signal.

ERR Error Signal

This signal is used for notification when the FH/FZ5 detects one of the errors below. For descriptions of the errors, refer to the following:Refer to Error Messages and Troubleshooting in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340).

ON when the FH detects an error.

After the error is removed, the user (PLC) either per-forms remeasurement or executes error clear (ERCLR signal: ON) to turn OFF the signal.


OFF to ON ON to OFF


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Multi-line Random Trigger Mode Signal Specifications

For parallel signals, the supported signals and signal assignments depend on the number of lines used in Multi-line Random-trigger Mode.The following tables show the differences in signal assignments and the signals that can be used depending on the number of lines.Refer to the FH or FZ5 Instruction Sheet for terminal functions and assignments.

FH

• Signals and Assignments According to Number of Lines Used

• Signals According to Lines UsedTwo Lines

I/ONumber of lines

1 line 2 lines 3 or 4 lines 5 to 8 lines

STEP Assigned for each line.

DSA Assigned for each line. Not supported.

DIThe same signal is used for all lines.

The same signal is used for all lines.The DILINE signal (which specifies the line number to send the com-mand) is added.


Assigned for each line. Not supported.

ACK The same signal is used for all lines.

STGOUT/SHTOUT Assigned for each line.

RUN Assigned for each line. Not supported.

GATE Assigned for each line. Not supported.

BUSY Assigned for each line.

OR Assigned for each line.

ERR Assigned for each line.The same setting is used for all lines.

READY Assigned for each line.

DO DO0 to DO15Line 0: DO0 to DO7Line 1: DO8 to DO15

Not supported.

I/OLine number

Line 0 Line 1

STEP STEP0 STEP1

DSA DSA0 DSA1

DILINE DILINE 0 (used for all lines)

DI DI0 to DI7 (used for all lines)


ENC0 Phase A, ENC0 Phase B, or ENC0 Phase Z*When an encoder is used, STEP0 is assigned to ENC0 Phase Z.

ENC1 A Phase, ENC1 B Phase, or ENC1 Z Phase* When an encoder is used, STEP6 is assigned to ENC1 Phase A, STEP7 is assigned to ENC1 Phase B, and STEP1 is assigned to ENC1 Phase Z.

ACK ACK (used for all lines)



304

Three or Four Lines

Five to Eight Lines

STGOUT/SHTOUT STGOUT0/SHTOUT0 STGOUT1/SHTOUT0

RUN RUN0 RUN1

GATE GATE0 GATE1

BUSY BUSY0 BUSY1

OR OR0 OR1

ERR ERR0 ERR1

READY READY0 READY1

DO DO0 to DO7 DO8 to DO15

I/OLine number

Line 0 Line 1 Line 2 Line 3

STEP STEP0 STEP1 STEP2 STEP3

DSA ---

DILINEDILINE 0 to DILINE 1 (used for all lines)*DSA0 is assigned to DILINE1.



---


STGOUT/SHTOUT STGOUT0/ SHTOUT0 STGOUT1/ SHTOUT1 STGOUT2/ SHTOUT2 STGOUT3/ SHTOUT3

RUN RUN0 RUN1 RUN2 RUN3

GATE ---

BUSY BUSY0 BUSY1 BUSY2 BUSY3

OR OR0 OR1 OR2 OR3

ERR ERR0 ERR1 ERR2 ERR3

READY READY0 READY1 READY2 READY3

DO ---

I/OLine number

Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7

STEP STEP0 STEP1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP7

DSA ---

DILINEDILINE 0 to DILINE 2 (used for all lines)*DSA0 is assigned to DILINE1 and DSA1 is assigned to DILINE2.



---


I/OLine number

Line 0 Line 1


2

Methods for C

onnecting and Com

municating w

ith External D

evices

FZ5

• Signals and Assignments According to Number of Lines Used

• Signals According to Lines Used

STGOUT/SHTOUTSTGOUT0/SHTOUT0

STGOUT1/SHTOUT1

STGOUT2/SHTOUT2

STGOUT3/SHTOUT3

STGOUT4/SHTOUT4

STGOUT5/SHTOUT5

STGOUT6/SHTOUT6

STGOUT7/SHTOUT7

RUN ---

GATE ---

BUSY BUSY0 BUSY1 BUSY2 BUSY3 BUSY4 BUSY5 BUSY6 BUSY7

OR OR0 OR1 OR2 OR3 OR4 OR5 OR6 OR7

ERR ERR (used for all lines)

READY READY0 READY1 READY2 READY3 READY4 READY5 READY6 READY7

DO ---

I/ONumber of lines

1 line 2 lines

STEP Assigned for each line.

DSA Assigned for each line.

DI The same setting is used for all lines.

RUN RUN Not supported.

GATE Assigned for each line.

BUSYAssigned for each line.*RUN is assigned to BUSY1.

OR Assigned for each line.

ERR The same setting is used for all lines.

READY Assigned for each line.

DO DO0 to DO15Line0: DO0 to DO7Line1: DO8 to DO15

I/OLine number

Line 0 Line 1

STEP STEP0 STEP1

DSA DSA0 DSA1

DI DI0 to DI7 DI0 to DI7

RUN No output

GATE GATE0 GATE1

BUSY BUSY RUN

OR OR0 OR1

ERR ERR (shared)

READY READY0 READY1

DO DO0 to DO7 DO8 to DO15

I/OLine number

Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7



306

Input Timing of Input Signals

STEP Signal Input TimingThe measurement trigger STEP signal is input with the following timing.

1 Turn ON the STEP signal when the BUSY signal is OFF.When multiple inputs are used, the STEP signal can be turned ON when the READY signal is ON.However, if the image mode is set to Through Mode, the READY signal will always be OFF, so check the status of the BUSY signal to determine when to input the STEP signal.

2 Check that the BUSY signal is ON, then turn OFF the STEP signal.

DI0 to DI7 (Command Execution) Timing

• FH

If the STEP signal is turned ON when the READY signal is OFF, no measurements will be executed and the ERROR signal will turn ON.

STEP signalOFF

ON

BUSY signalOFF

ON

OFF when the BUSY signal is ON.

ON when the BUSY signal is OFF.

Note

Command Request

Timeout [s]*

Continuous measurement

When executing continuous measurement commands, turn OFF DI7 when you want to stop continuous measurements, as shown below.For continuous measurement commands, the ACK signal will remain OFF.

Parallel DI0 to DI6

Parallel DI7OFF

ON

OFF

ON1 ms

(1)

(2)

(3)

Parallel BUSY signalOFF

ON

OFF

ON

ACK signal (Command Completion Flag) OFF

ON

Parallel DI0 to DI6 (continuous measurements)

Parallel DI7OFF

ON

OFF

ON1 ms

Parallel BUSY signalOFF

ON

OFF

ON

ACK signal (Command Completion Flag) OFF

ON

(4)


2

Methods for C

onnecting and Com

municating w

ith External D

evices

1 Set the DI0 to DI6 signals to ON or OFF based on the command to input.

2 After you have set the DI0 to DI6 signals, wait for at least 1 ms and then turn ON DI7.

3 The command will be executed, and the ACK signal will turn ON after execution of the command is completed.

4 Check that the ACK signal has turned ON, then turn OFF DI7.When the DI7 signal is turned OFF, the ACK signal will turn OFF.*: A timeout error will occur if the DI7 signal is not turned OFF within the set timeout interval from when the ACK

signal is turned ON.

• FZ5Sensor control commands are input with the timing shown below using the DI0 to DI7 signals.

If the DI7 is still ON after execution of a command is completed, the same command will be executed again. Write the PLC program so that the DI7 signal is turned OFF after the ACK signal turns OFF.

From the PLC, set signals DI0 to DI6 and turn ON the DI7 signal only when the BUSY, ACK, and DI7 signals are all OFF.From the PLC, you can check if a command was acknowledged by confirming that the BUSY signal turned ON.From the PLC, you can check if execution of a command was completed by confirming that the ACK signal turned ON. After these conditions have all been met, turn OFF the DI7 signal.

If the DI7 is still ON after execution of a command is completed, the same command will be executed again.

From the PLC, set signals DI0 to DI6 and turn ON the DI7 signal only when the BUSY and DI7 signals are OFF.The PLC (user) turns OFF the DI7 signal after checking that the BUSY signal has turned ON.

IMPORTANT

Note

Parallel DI0 to DI6

ONParallel DI7OFF

ONParallel BUSY signalOFF

Command Request

C

A

B

1 ms

A Set the DI0 to DI6 signals to ON or OFF based on the command to input.B After you have set the DI0 to DI6 signals, wait for at least 1 ms and then turn ON DI7.C Then check that the BUSY signal has turned ON, then turn OFF DI7. The BUSY signal is turned

OFF when execution of the command is completed. When executing continuous measurement commands, turn OFF DI7 when you want to stop continuous measurements.

IMPORTANT

Note



308

Output Items

Parallel Data Output

Measurement Results for Which Output Is Possible (Parallel Data Output)You can use the processing items that are related to outputting results to output the following data.You can also access measured values from the Calculation or other processing units.

External Reference Tables (Parallel Data Output)By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.

Parallel Judgement Output

Measurement Results for Which Output Is Possible (Parallel Judgement Output)You can use the processing items that are related to outputting results to output the following data.You can also access measured values from the Calculation or other processing units.

External Reference Tables (Parallel Judgement Output)By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.






5 to 12 Data 0 to Data 7 Get onlyBCD: −999 to 999Binary: −32768 to 32767

128 Data type Set/Get 0: Binary, 1: BCD



Data 0 to 15 D00 to D15Results of expressions set for output judgement data 0 to 15

Judge 0 to 15 J00 to J15Results of judgement on expressions set for output judgement data 0 to 15



5 to 20 Data 0 to Data 15 Get only −999999999.9999 to 999999999.9999

21 to 36 Judge 0 to Judge 15 Get only 1: OK, −1: NG, 0: Unmeasured

103 Reflect to the overall judgement Set/Get 0: ON, 1: OFF

136 Upper limit 0 for judgement Set/Get −999999999.9999 to 999999999.9999

137 Lower limit 0 for judgement Set/Get −999999999.9999 to 999999999.9999


2

Methods for C

onnecting and Com

municating w

ith External D

evices


































310

Command FormatsYou can input commands to control the Sensor from an external device using the DI0 to DI7 signals.

Input Format

Commands are input in the following formats.

FH

• One LineInput format (DI7 to DI0)

Set 0 (OFF) or 1 (ON) for each DI signal.Confirm commands and information, and turn DI7 (execute) ON with an interval of at least 1 ms.

• Multi-line Random-trigger Mode2 linesInput format (DI7 to DI0 and DILINE0)

Three or Four LinesInput format (DI7 to DI0, DILINE1, and DILINE0)

Five to Eight LinesInput format (DI7 to DI0 and DILINE2 to DILINE0)

FZ5

DI7

CommandExecution


Command information

DI7

CommandExecution

DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE0

Command information Specifies the target line number for the command

DI7

CommandExecution

DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE1 DILINE0


DI7

CommandExecution

DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE2 DILINE0DILINE1


DI7

CommandExecution


Command informationLine number


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Command Lists

The commands and command formats are described in the following tables.

One Line

0: OFF1: ON

Data Description

Input format (DI7 to DI0)

Input exampleExecute (DI7) Command

(DI6, DI5)

Command information (DI4 to

DI0)

Continuous Measurement

Performs measurement continuously while com-mand is being input.

1 00

*****The Controller does not see this signal, so a set-ting of either 0 or 1 makes no difference.

Input example: 10000000

Select SceneChanges the measure-ment scene.

1 01Input [Scene No.] in binary format (0 to 31).

Switching to Scene 2Input example: 10100010

Set Scene Group

Changes the measure-ment scene groups.

1 11Input [Scene Group No.] in binary format (0 to 31).

Changing to Scene Group 2Input example: 11100010

Clear Measure-ment Values

Clears measurement val-ues.The OR signal and DO sig-nal are not cleared.

1 10 00000Input example: 11000000

Clear ErrorClears the error output.The ERROR indicator is also cleared.

1 10 00001Input example: 11000001

Clear Parallel OR+DO

Clears the OR signal and DO signal.

1 10 00010Input example: 11000010

Wait State ClearClears the wait state in the control flow parallel pro-cessing unit.

1 10 01111Input example:11001111



312

Multi-line Random Trigger Mode

FH

*1: Two lines: DILINE0Three or four lines: DILINE0 and DILINE1Five to eight lines: DILINE0 to DILINE2

*2: Only the signals assigned to the line that the command was sent to can be cleared. The OR and DO signals are not cleared for other lines. If the command is sent to a line that cannot use the DO signals, only the OR signal will be cleared.

Data Description

Input format (DI7 to DI0, DILINE0, DILINE1, and DILINE2) Input example (DILINE2

to DILINE0, DI7 to DI5, and DI4 to DI0)Execute

(DI7)Command (DI6, DI5)

Command information (DI4 to DI0)

Line number*1


Performs measure-ment continuously while command is being input.

1 00

*****The Controller does not see this signal, so a setting of either 0 or 1 makes no difference.

Specify the line number to send the command to.

• Two lines: 0 or 1

• Three or four lines:00 (line 0)01 (line 1)10 (line 2)11 (line 3)

• Five to eight lines:000 (line 0)001 (line 1)010 (line 2)011 (line 3)100 (line 4)101 (line 5)110 (line 6)111 (line 7)

Continuous mea-surements on line 1 when 2 lines are usedInput example: 0 100 00000

Select SceneChanges the measure-ment scene.


Changing to scene 2 on line 2 when 4 lines are usedInput example: 10 101 00010

Set Scene Group

Changes the measure-ment scene groups.

1 11

Input [Scene Group No.] in binary format (0 to 31).

Changing to scene group 3 on line 6 when 8 lines are usedInput example: 110 111 00011

Clear Mea-surement Val-ues

Clears measurement values.The OR signal and DO signal are not cleared.

1 10 00000

Clearing the mea-surement results for line 1 when 2 lines are usedInput example: 1 110 00000

Clear ErrorClears the error output.The ERROR indicator is also cleared.

1 10 00001

Clearing the error status for line 1 when 4 lines are usedInput example: 01 110 00001


Clears the OR signal and DO signal. *2

1 10 00010

Clearing the OR and DO signals for line 2 when 8 lines are usedInput example: 010 110 00010

Wait State Clear

Clears the wait state in the control flow parallel processing unit.

1 10 01111 11001111


2

Methods for C

onnecting and Com

municating w

ith External D

evices

FZ5-11

*1: To clear ERR (common) for an FZ5-series Controller, set the line number (DI4) to 0.

Data Description

Input format (DI7 to DI0)

Input exampleExecute (DI7)

Command (DI6,

DI5)

Line number (DI4)

Command information (DI3 to DI0)


Performs measurement continuously while command is being input.

1 00

0 or 1Specify the line number to send the command to.

*****The Controller does not see this signal, so a setting of either 0 or 1 makes no difference.

Continuous Measurement on Line 1Input example:10010000

Select SceneChanges the measurement scene.


Changing Line 0 to Scene 2Input example: 10100010

Set Scene Group

Changes the measurement scene groups.

1 11

Input [Scene Group No.] in binary format (0 to 15).

Changing Line 1 to Scene Group 2Input example: 11110010

Clear Measurement Values

Clears measurement values. The OR signal and DO signal are not cleared.

1 10 0000

Clearing the Measurement Values of Line 1Input example: 11010000

Clear ErrorClears the error output. The ERROR indicator is also cleared. *1

1 10 0001

Clearing ERR (Common)*Input example: 11000001


Clears the OR signal and DO signal.

1 10 0010

Clearing the OR Signal and DO Signal of Line 1Input example: 11010010

Wait State Clear

Clears the wait state in the control flow parallel processing unit.

1 10 01111 11001111



314

Time ChartsThe ON/OFF timing of related signals during data output after the completion of measurement and during the sequence of operation from input of the control command until data output after the completion of measurement is indicated below in a timing chart.

Output Control Timing Charts

This section provides timing charts for each output control type (none, handshaking, and synchronization output).

Output Control: NoneExample: Three Data Items Set for Parallel Data Output

Time Chart

1 Turn ON the STEP signal while the BUSY signal is OFF.2 Measurement begins and the BUSY signal is turned ON during the measurement process.3 Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed.4 After the data output processing, the GATE signal is turned ON after the time set for the [Gate

ON delay] in the parallel communications settings has elapsed.*1*2

*1: A delay of up to 1 ms will occur when the GATE signal is turned ON. (This applied only to the FH.)

5 After the GATE signal is turned ON, the GATE signal is turned OFF after the time set for the [Output time] in the parallel communications settings has elapsed.*2

6 If the processing for the next data item is completed, the next GATE signal is turned ON after the time set for the [Output period] has elapsed from the end of processing in step 5 above.*2: Set the GATE ON delay and output time for the GATE signal so that the total time does not exceed the output period.

1 After measurement is completed, the OR signal is output based on the measurement result and the BUSY signal is turned OFF.

For the function and operation of each signal, refer to I/O Signals (p.299).

Data Output Time and STEP Signal Input IntervalSet the input interval for the STEP signal so that it is longer than the total output time. If the STEP signal input interval is shorter than the total output time, the data output buffer will eventually overflow and data will be lost.

IMPORTANT

Output period

STEP signal

BUSY signal

OR signal

DO0 to DO15 signals

GATE signal

Output Unit executed.


The total output time is as follows: Output period × Number of output data items.


Delay time (1 ms max.)

OFF

ON

OFF

ON

OFF

ONOutput time

Data 0 Data 1 Data 2

Gate ON delay [ms]

Turns ON when the overall judgement result is NG. (Output polarity: [ON for NG])

IMPORTANT


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Output Control: HandshakingExample: Three Data Items Set for Parallel Data Output

1 Turn ON the STEP signal while the BUSY signal is OFF.

2 Measurement begins and the BUSY signal is turned ON during the measurement process.

3 Turn ON the DSA signal from the external device to request data transmission after the STEP signal turns ON.*1

*1: A timeout error will occur if the DSA signal is not turned ON within the set timeout interval from when the output data was output by the Output Unit in the measurement flow. (1))

4 After measurement is completed, the OR signal is output based on the measurement result and the BUSY signal is turned OFF.

5 Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed.

6 The GATE signal is turned ON if the DSA signal is ON after data output processing.*2


7 The user (PLC) reads the data and turns OFF the DSA signal when the GATE signal turns ON.

8 The GATE signal turns OFF if the DSA signal is turned OFF.*3

*3: If you do not turn OFF the DSA signal within the specified timeout time after the GATE signal turns ON, a timeout error will occur. (2))

9 If more than one data item is being output for one measurement and you do not turn ON the DSA signal within the specified timeout time after the GATE signal turns OFF, a timeout error will occur. (3))

Execution of the Parallel Data Output Unit

OFF

ON

OFF

ON

OFF

ON

OFF

ON


A timeout error will occur if the DSA signal is not turned ON within the set timeout interval from when the output data was output by the Output Unit in the measurement flow.

A timeout error will occur if more than one data item is being output for one measurement and the DSA signal does not turn ON within the specified time after the GATE signal turns OFF.

If the DSA signal does not turn OFF within the specified time after the GATE signal turns ON, a timeout error will occur.

Data 0

Timeout time (1))Timeout time (3))

Timeout time (2))

Data 1

STEP signal

BUSY signal

OR signal

DO0 to DO15 signals

GATE signal

DSA signal


Data 2


Gate ON delay [ms]

Overall judgement (Output when measurements have been completed regardless of the DSA signal.)



316

Output Control: Synchronization ControlOperation When [Number of Delay] Is Set to 2

1 Repeatedly turn ON the STEP signal while the BUSY signal is OFF.

2 The OR signal is output when the BUSY signal turns ON.

3 When the STEP signal turns ON for the third time, the measurement results (DO) for the first time that the STEP signal turned ON are output and the GATE signal is turned ON after the time set for the GATE ON delay has elapsed.

4 When the STEP signal turns ON for the fourth time, the measurement results (DO) for the second time that the STEP signal turned ON are output and the GATE signal is turned ON after the time set for the GATE ON delay has elapsed.*1


5 Each time the STEP signal turns ON after that, the measurement result (DO) from when the STEP signal turned ON two times previously is output.


OFF

ON

OFF

ON

OFF

ON

Overall judgementresult for (1)

(Result notoutput.)

The results for (1) is output when the STEP signalturns ON the third time.

Result for (1) Result for (2) Result for (3) Result for (4)





(1) (2) (3) (4) (5)STEP signal

BUSY signal

OR signal

D0 signal

GATE signalGATE ON delay

Output time

ON while measurements are being processed



2

Methods for C

onnecting and Com

municating w

ith External D

evices

Command Timing Charts

Continuous MeasurementMeasurements are performed continuously while the DI7 signal is ON.Continuous measurements are stopped when the DI7 signal is turned OFF.

When an Expressions Is Set in [Parallel Data Output] with No Output Control

• Time Chart

• Input Signals

For the function and operation of each signal, refer to I/O Signals (p.299).

Signal DescriptionDI0 to DI6 These signals are turned OFF during continuous measurements (i.e., when DI7 is ON).

DI7

This is the execution trigger.After DI0 to DI6 are set, turn ON DI7 after an interval over 1 ms.Always keep this signal turned ON during a continuous measurement. Continuous measurement is stopped when this signal is turned OFF.

The measurements during continuous measurements are given priority. Therefore, display of the measurement results (overall judgement, images, judgement for each processing unit in the flow display, and detailed results) may sometimes not be updated.When continuous measurements are ended, the measurement results from the last measurement will be displayed.

• When the input command is not received correctly, the ERROR signal turns ON.• Acquisition is difficult because the amount of time during which the BUSY signal is OFF during a continuous

measurement for a parallel command is extremely short (1 ms or less). Get the OR signal when the GATE signal turns ON after adding the parallel judgement output at the end of the flow.

Note

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

*1 A delay of up to 1 ms will occur when the GATE signal is turned ON. (This applied only to the FH.)

Data 0 Data 0 Data 0

Output time

Output period

D0 signal

GATE signal

ACK signal (FH only)

Gate ON delay [ms]

End of continuous measurements

DI7 signal

BUSY signal

OR signal

DI0 to DI6 are turned OFF.

Measurement Measurement Measurement Measurement

Turns ON when the overall judgement result is NG.(Output polarity: [ON for NG])

Continuous measurement started.


Delay time *1(1 ms max.)

IMPORTANT

Note



318

Scene/Scene Group SwitchScenes and scene groups are changed as follows.When the number of the desired scene or scene group is set in DI0 to DI6 and DI7 is turned ON, the scene or scene group changes to that set in DI0 to DI6.

• Time ChartsFH

FZ5

• Output Signals

Signal Description

BUSYIndicates that the Controller is currently switching the scene or scene group.Do not input next command while the BUSY signal is ON. Otherwise, on-going processing or com-mands that are input will not be performed correctly.

READYTurns OFF while a scene or a scene group is being switched. Turns OFF as long as the BUSY sig-nal is ON.

ACK (FH only) Turn ON when execution of the DI command is completed.

When the input command is not received correctly, the ERROR signal turns ON.

0

DI7 signalOFF

ON

DI0 to DI6 signals

BUSY signal

READY signal

OFF

ON

OFF

ON

OFF

ON

ACK signalOFF

ON

Command Request

The signal turns OFF when DI7 turns OFF.

0100001 (to switch to scene 1)

Timeout [s]

After at least 1 ms, IN7 is turned ON.

The PLC (user) turns OFF the signal again when the ACK signal is turned ON.

0

DI7 signalOFF

ON

DI0 to DI6 signals

BUSY signal

READY signal

OFF

ON

OFF

ON

OFF

ON

Command Request

0100001 (to switch to scene 1)


Allow at least 1 ms and then turn ON IN7.

Note


2

Methods for C

onnecting and Com

municating w

ith External D

evices

• Input Signals (Scene/Scene Group Switching)

Clear Measurement ValuesThe measurement result is cleared as follows.

• Time ChartsFH

Do not change the scene group during parallel continuous measurement or when the STEP signal is being input continuously. If you must change the scene group at one of these times, set [Unchecked] in [Save scene group on scene switch] in either of the settings items below.Refer to Changing the Scene or Scene Group in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340).Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340).

Signal Description

DI0 to DI4Set the scene number (0 to 31).When a DI terminal offset is set, the set offset is added.

DI5 ON

DI6Select Scene: OFFSet Scene Group: ON

DI7

This is the execution trigger.After DI0 to DI6 are set, turn ON DI7 after an interval over 1 ms.The BUSY signal is ON during command execution. After checking that the BUSY signal has turned ON, turn DI7 OFF, and then turn DI0 to DI6 OFF. If the DI7 signal OFF timing cannot be set faster than the BUSY signal OFF timing on the control side, set the scene switching additional time to lengthen the BUSY signal OFF timing.Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340).

The amount of time during which the BUSY signal is turned ON when a scene is switched can be changed.Select [Measurement setting] from the [Measure] menu and make the setting in the conditions related to operation during measurement.Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340).

IMPORTANT

Note

0

DI7 signalOFF

ON

OFF

ON

DI0 to DI6 signals

BUSY signal

1000000


READY signalOFF

ON

ACK signalOFF

ON

The PLC (user) turns OFF the signal again when the ACK signal is turned ON.

The signal turns OFF when DI7 turns OFF.



320

FZ5

• Output Signals

• Input Signals

Signal Description

READYTurns OFF when the command to clear the measurement value is being executed. Turns OFF as long as the BUSY signal is ON.

BUSYTurns ON when the measurement value is being cleared. The amount of time during which the BUSY signal is turned ON is approximately 1 ms.

ACK (FH only) Turn ON when execution of the DI command is completed.

Signal Description

DI0 to DI4 Turn OFF.

DI5 Turn OFF.

DI6 Turn ON.

DI7

This is the trigger signal to clear a measurement value.After DI0 to DI6 are set, turn ON DI7 after an interval over 1 ms.The BUSY signal is ON during command execution. After checking that the BUSY signal has turned ON, turn DI7 OFF, and then turn DI0 to DI6 OFF. Note, however, that the amount of time during which the BUSY signal is turned ON is approximately 1 ms. If it cannot be recognized whether the BUSY sig-nal is turned ON or not by an external device, control the timing so that the DI7 signal is turned ON for approximately 5 ms.

0

DI7 signalOFF

ON

OFF

ON

DI0 to DI6 signals

BUSY signal

1000000

READY signalOFF

ON




2

Methods for C

onnecting and Com

municating w

ith External D

evices

Clear Parallel OR+DOThe OR signal and DO signals are cleared as follows.

• Time Chart

• Output Signals

• Input Signals

Signal Description

READYThis does not change when the OR and DO signal is being cleared.Do not, however, clear the OR and DO signal when the READY signal is turned OFF. The com-mand will not be executed correctly.

BUSYThis does not change when the OR and DO signal is being cleared.Do not, however, clear the OR and DO signal when the BUSY signal is turned ON. The command will not be executed correctly.

OR It will turn OFF if it was turned ON.

DO0 to DO15 It will turn OFF if it was turned ON.

GATEThis does not change when the OR and DO signal is being cleared.Do not, however, clear the OR and DO signal when the GATE signal is turned ON. The command will not be executed correctly. Or, the DO and GATE will not be output correctly.

Signal DescriptionDI0 Turn OFF.

DI1 Turn ON.


DI6 Turn ON.

DI7This is the trigger signal to clear the OR and DO signal.After DI0 to DI6 are set, turn ON DI7 after an interval over 1 ms. After checking that the OR DOsignal has turned OFF, turn DI7 OFF, and then turn DI0 to DI6 OFF.


OFF

ON

OFF

ON

OFF

ON

OFF

ON

1000010

OFF

ON

0

STEP input

OR signal

BUSY signal

STEP signal

DO0 to DO15 signals

Measurement

GATE signal

Output time

Gate ON delay [ms]

DI0 to DI6 signals

DI7 signal

Data

Allow at least 1 ms and then turn ON DI7.

OFF when the DO signal is OFF. Then DI0 to DI6 are turned OFF.


Delay time *1 (1 ms max.)



322

Clear ErrorThe error signal is cleared as follows.

• Time Chart

• Output Signals

• Input Signals

Signal Description

READYThis does not change when an error is being cleared.Do not, however, clear the error signal when the READY signal is turned OFF. The command will not be executed correctly.

BUSYThis does not change when an error is being cleared.Do not, however, clear an error when the BUSY signal is turned ON. The command will not be exe-cuted correctly.

OR This does not change when an error is being cleared.

DO0 to DO15 This does not change when an error is being cleared.

GATE This does not change when an error is being cleared.

ERROR After the error is removed, the signal turns OFF when the user (PLC) executes the error clear processing.

Signal Description

DI0 Turn ON.


DI6 Turn ON.

DI7This is the trigger signal to clear an error.After DI0 to DI6 are set, turn ON DI7 after an interval over 1 ms.After checking that the ERROR signal is OFF, turn DI7 OFF, and then turn DI0 to DI6 OFF.


OR signal

BUSY signal

STEP signal

DO0 to DO15 signals

GATE signal

ERROR signal

DI0 to DI6 signals

DI7 signal

STEP input

0

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Data

1000001

Measurement

Output time

Gate ON delay [ms]

Allow at least 1 ms and then turn ON DI7. OFF when the ERROR signal is OFF.

Then DI0 to DI6 are turned OFF.


Delay time (1 ms max.) *1


2

Methods for C

onnecting and Com

municating w

ith External D

evices

Parallel Troubleshooting


There is absolutely no data output.

You have selected more than three lines in Multi-line Random-trigger Mode.

Decrease the number of lines or use a com-munications method other than parallel com-munications.

The [Output] setting is turned OFF.Select [Layout setup] in the Window menu on the Main Window, and then turn ON the [Out-put] setting.

Even though there is more than one data output item, only the last data item is out-put.

The data is being overwritten because the ON status of the GATE signal is not being checked.

Read data only when the GATE signal is ON. Use handshaking for the output control to control the output timing.

STGOUT and SHTOUT are not being output.

You have selected a different signal in the system settings.

Select the correct signal for the application in the [Output signal selection] of the output sig-nal settings in the system settings.

Measurement is not exe-cuted even when a STEP sig-nal is input.

The STEP signal is chattering.

Check the contacts and input method used to prevent chattering. Set the STEP signal filter to a period longer than the input period that results in chattering.

STEP signals are input at ran-dom.

Unintended STEP signals are being input due to noise.

Perform noise prevention measures. Set the STEP signal filter to a period longer than the input period that results in chattering.

The READY signal is always OFF.

The image mode is set to Through Mode on the Main Window.

Change the image mode to [Freeze] or [Last NG].

Camera Image Input HDR or Camera Image Input HDR Lite is being used in the current measurement flow.

When using Camera Image Input HDR or Camera Image Input HDR Lite, the READY signal will turn OFF for the number of Camera images taken.

More than one Camera Image Input is being used in the current measurement flow.

If you execute more than one Camera Image Input in a single measurement flow, the READY signal will turn OFF for the number of Camera images taken.

There is a delay in the SHTOUT ON timing.

You are using more than one Camera in the current measurement flow.

When you use more than one Camera, the SHTOUT signal turns ON only after the slow-est Camera exposure is completed.



324
Parallel Communications Vision System FH/FZ5 Series User’s Manual

Appendices

3

Appendices

326

Command Control
This section describes the commands that are used to control the Sensor Controller from an external device.
Parameter Notation Examples for Command ControlThis section provides examples of binary inputs of parameters and other arguments for command control.

Four-byte DataThe following example shows the input to change the scene to scene number 5 with the Switch Scene command.

• OMRON or Yaskawa Electric PLCsCommand (PLC to Sensor Controller)

• Mitsubishi Electric PLCsCommand (PLC to Sensor Controller)

The storage order depends on the manufacturer of the connected PLC as follows:• OMRON and Yaskawa Electric PLCs: Upper byte followed by lower byte• Mitsubishi Electric PLCs: Lower byte followed by upper byte

First word in Command Area Description

+2 and +3 words Command code (1000 0030 hex)

+4 and +5 words Scenes number 5 (0000 0005 hex)

First word in Command Area

Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 0005 0000 0000 0000 0101Scene No.

+5 0000 0000 0000 0000 0000


Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 0500 0000 0101 0000 0000Scene No.

+5 0000 0000 0000 0000 0000

Note

Command Control Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

3

Appendices

Specifying Character StringsSpecify the ASCII character code for every two bytes.In this example, the inputs are given to save the image data for image data 1 to a destination specified by the absolute path (USBDisk\IMG01\LABEL.IFZ) with the Save Image command.




+4 and +5 words Image data number 1 (0000 0001 hex)

+6 to +17 words Save destination (USBDisk\IMG01\LABEL.IFZ)


Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 0001 0000 0000 0000 0001Image data No.

+5 0000 0000 0000 0000 0000

+6 5553 0101 0101 0101 0011

Destination+6: 5553(US)+7: 4244(BD)+8: 6973(is)+9: 6b32(k2)+10: 5c49(\I)+11: 4d47(MG)+12: 3031(01)+13: 5c4c(\L)+14: 4142(AB)+15: 454c(EL)+16: 2e49(.I)+17: 465a(FZ)

+7 4244 0100 0010 0100 0100

+8 6973 0110 1001 0111 0011

+9 6b32 0110 1011 0011 0010

+10 5c49 0101 1100 0100 1001

+11 4d47 0100 1101 0100 0111

+12 3031 0011 0000 0011 0001

+13 5c4c 0101 1100 0100 1100

+14 4142 0100 0001 0100 0010

+15 454c 0100 0101 0100 1100

+16 2e49 0010 1110 0100 1001

+17 465a 0100 0110 0101 1010

Command Control327


328

• Mitsubishi Electric Corporation PLCsCommand (PLC to Sensor Controller)

Specifying Real NumbersSpecify 1,000 times the actual value to specify a real number.In this example, the inputs are given to set the lower limit (external reference number 137) of measurement coordinate X to 123.4 for the Search processing item that is registered to processing unit 1 for the Set Unit Data command.


Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 0100 0000 0001 0000 0000Image data No.

+5 0000 0000 0000 0000 0000

+6 5355 0101 0011 0101 0101

Destination+6: 5355(SU)+7: 4442(DB)+8: 7369(si)+9: 326b(2k)+10: 495c(I\)+11: 474d(GM)+12: 3130(10)+13: 4c5c(L\)+14: 4241(BA)+15: 4c45(LE)+16: 492e(I.)+17: 5a46(ZF)

+7 4442 0100 0100 0100 0010

+8 7369 0111 0011 0110 1001

+9 326b 0011 0011 0110 1011

+10 495c 0100 1001 0101 1100

+11 474d 0100 0111 0100 1101

+12 3130 0011 0001 0011 0000

+13 4c5c 0100 1100 0101 1100

+14 4241 0100 0010 0100 0001

+15 4c45 0100 1100 0100 0101

+16 492e 0100 1001 0010 1110

+17 5a46 0101 1010 0100 0110



+4 and +5 words Unit number 1 (0000 0001 hex)

+6 and +7 words External reference number 137 (0000 0089 hex)

+8 and +9 wordsLower limit of measurement coordinate X: 123.4 (x 1,000: 123400 = 0001 E208 hex)


3

Appendices


• Mitsubishi Electric PLCsCommand (PLC to Sensor Controller)


Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0050 0000 0000 0101 0000

+4 0001 0000 0000 0000 0001Unit No.

+5 0000 0000 0000 0000 0000

+6 0089 0000 0000 1000 1001External reference number

+7 0000 0000 0000 0000 0000

+8 E208 1110 0010 0000 1000 Lower limit value of measurement coordinate X+9 0001 0000 0000 0000 0001


Hexadecimal

notation

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0050 0000 0000 0101 0000

+4 0100 0000 0001 0000 0000Unit No.

+5 0000 0000 0000 0000 0000

+6 8900 1000 1001 0000 0000External reference number

+7 0000 0000 0000 0000 0000

+8 08E2 0000 1000 1110 0010 Lower limit value of measurement coordinate X+9 0100 0000 0001 0000 0000

Command Control329


330

Details of Commands Used in EtherCAT CommunicationCommand codes and command parameters used in EtherCAT communication are specified as described below via the I/O port for commands generated for the FH.

Command details in the Appendix are described based on PLC memory addresses.When specifying command codes and command parameters in EtherCAT communication, substitute command details as indicated below.

• Command Code : Holds the command code to be executed.

• Command Parameter 0 to 3 : Holds the parameter of the command to be executed.

Command Code 4 bytes

Command Parameter 0 4 bytes



Command Parameter 34 bytes

CodeCommandFirst word in

Command AreaBit

15-12 11-8 7-4 3-0

+2 0000 0000 0000 0000 0000+3 0000 0000 0000 0000 0000+4 0000 0000 0000 0000 0000+5 0000 0000 0000 0000 0000+6 0000 0000 0000 0000 0000+7 0000 0000 0000 0000 0000+8 0000 0000 0000 0000 0000+9 0000 0000 0000 0000 0000+10 0000 0000 0000 0000 0000+11 0000 0000 0000 0000 0000


3

Appendices

Command ListThis section lists the commands that you can use with the FH or FZ5 and the communications protocols for which each command is supported.

Execution Commands

In addition to the standard communications commands that are given here, you can also create custom commands and define the processing for them.Creating custom commands is useful to expand the function of a standard command to create more advanced commands, and to otherwise combine multiple commands into one command to simplify controlling operation from a PLC or other external device.Refer to Custom Communications Commands in the FH/FZ5 Series Image Processing System User's Manual (Cat No. Z340).

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

FunctionParallel

Reference: (p.311)

PLC link Reference:

(p.188)

EtherNet/IP Reference:

(p.234)

EtherCAT Reference:

(p.76)

Non-procedure Reference:

(p.273)

Measurement is performed one time NA(*1) OK NA(*1) OK OK

Starts continuous measurement OK OK OK OK OK

Stops continuous measurement NA OK OK OK OK

Executes measurement tests on specified units NA OK OK OK OK

Clears measurement values OK OK OK OK OK

Clears the data output buffer NA NA NA OK NA

Saves in the Sensor Controller NA OK OK OK OK

Re-registers the model data with the current image NA OK OK OK OK

Moves the image display position in parallel the specified distance

NA OK OK OK OK

Zooms in/out the image display by the specified zoom ratio

NA OK OK OK OK

Returns the display position and display zoom ratio to their initial values

NA OK OK OK OK

Copies scene data NA OK OK OK OK

Deletes scene data NA OK OK OK OK

Moves scene data NA OK OK OK OK

Registers specified image data as registered image NA OK RST(*2) NA OK

Loads the specified registered data as a measurement image

NA OK OK OK OK

Responds in the response areas +5+6 with the data that was set in command areas +4+5

NA OK NA NA NA

Returns the input string as is to the output (echo) NA NA OK OK OK

Executes the specified command string after a specified delay

NA NA NA NA OK

Adds a user account to a specified group ID NA OK RST(*2) NA OK

Deletes a specified user account NA OK RST(*2) NA OK

Note

Command Control331


332

*1: You can execute the same operation with the Measurement Execution Bit (STEP signal is allocated for both the parallel communications and EtherNet/IP) in the control signals.

*2: You cannot execute tag data link commands. Execute the command with message communications.*3: You can execute the same operation with the Error Clear Bit (EtherNet/IP: ERCLR, EtherCAT: Error Clear) in the control

signals.

Branches to the start of the measurement flow (processing unit No. 0)

NA OK OK OK OK

Restarts the Sensor Controller NA OK OK OK OK

Clear Error OK NA NA(*3) NA(*3) NA

Clear Parallel OR+DO OK NA NA NA NA


FunctionParallel

Reference: (p.311)

PLC link Reference:

(p.188)


(p.234)

EtherCAT Reference:

(p.76)


(p.273)


3

Appendices


*1: You cannot execute tag data link commands. Execute the command with message communications.



Function ParallelPLC link

Reference: (p.188)


(p.235)

EtherCAT Reference:

(p.77)


(p.273)

Acquires scene number NA OK OK OK OK

Acquires scene group number NA OK OK OK OK

Gets the currently displayed layout number. NA OK OK OK OK

Gets the number of the unit currently displayed in the specified display image window.

NA OK OK OK OK

Gets the number of the sub-image in the specified image display window

NA OK OK OK OK

Gets the image mode for the specified image display window.

NA OK OK OK OK

Gets the input state of an individual communications module: Enabled or Disabled.

NA OK OK OK OK

Gets the output state to an external device: Enabled or Disabled.

NA OK OK OK OK

Gets the state of the specified parallel I/O terminal: Active or Inactive.

NA OK OK OK OK

Gets the ON/OFF states of all parallel terminals except for DI terminals.

NA OK OK OK OK

Gets the ON/OFF states of all parallel DI terminals. NA OK OK OK OK

Gets the user name for the currently logged in user account.

NA OK RST(*1) NA OK

Gets the affiliation group ID for the currently logged in user account.

NA OK RST(*1) NA OK

Gets the operation log state NA OK OK OK OK


FunctionParallel

Reference: (p.311)

PLC link Reference:

(p.189)


(p.235)

EtherCAT Reference:

(p.77)


(p.274)

Switching Scenes OK OK OK OK OK

Switches the scene group number OK OK OK OK OK

Sets a layout number to switch between screens. NA OK OK OK OK

Sets the number of the unit displayed in the specified image display window

NA OK OK OK OK

Sets the number of the sub-image displayed in the specified image display window

NA OK OK OK OK

Sets the image mode for the specified image display window.

NA OK OK OK OK

Enables/Disables inputs into an individual communications module.

NA OK OK OK OK

Command Control333


334


Enables/Disables outputs to external devices. NA OK OK OK OK

Sets specified parallel I/O terminals ON/OFF NA OK OK OK OK

Sets the ON/OFF states of all parallel terminals, except for DO terminals

NA OK OK OK OK

Sets the ON/OFF states of all parallel DO terminals NA OK OK OK OK

Changes the user account used by the user currently logging in.

NA OK RST(*1) NA OK

Sets the operation log state NA OK OK OK OK


FunctionParallel

Reference: (p.311)

PLC link Reference:

(p.189)


(p.235)

EtherCAT Reference:

(p.77)


(p.274)


3

Appendices





File Load Commands




Reference: (p.189)


(p.236)

EtherCAT Reference:

(p.78)


(p.275)

Acquires unit data NA OK OK OK OK

Gets the current date and time. NA OK RST(*1) NA OK

Acquires system version information NA OK RST(*1) NA OK

Acquires settings related to image logging. NA OK RST(*1) NA OK

Gets the defined image logging folder name. NA OK RST(*1) NA OK

Gets the defined data logging folder name. NA OK RST(*1) NA OK

Gets the defined screen capture folder name. NA OK RST(*1) NA OK

Acquires the set image logging prefix NA OK RST(*1) NA OK

Acquires the set data logging condition NA OK OK OK OK

Gets the parallel DI terminal offset data that is set. NA OK OK OK OK



Reference: (p.190)


(p.236)

EtherCAT Reference:

(p.78)


(p.275)

Sets unit data NA OK OK OK OK

Sets the date/time. NA OK RST(*1) NA OK

Changes settings related to image logging NA OK RST(*1) NA OK

Sets the image logging folder name. NA OK RST(*1) NA OK

Setting the data logging folder name. NA OK RST(*1) NA OK

Setting the screen capture folder name NA OK RST(*1) NA OK

Sets the image logging prefix. NA OK RST(*1) NA OK

Sets the data logging condition. NA OK OK OK OK

Sets the parallel DI terminal offset data. NA OK OK OK OK



Reference: (p.190)


(p.236)EtherCAT


(p.275)

Loads the Scene data NA OK RST(*1) NA OK

Loads the scene group data NA OK RST(*1) NA OK

Loads system data NA OK RST(*1) NA OK

Loads System + Scene group 0 data NA OK RST(*1) NA OK

Command Control335


336

File Save Commands




Reference: (p.190)


(p.237)EtherCAT


(p.276)

Saves the Scene data NA OK RST(*1) NA OK

Saves the scene group data NA OK RST(*1) NA OK

Saves system data NA OK RST(*1) NA OK

Saves the image data NA OK RST(*1) NA OK

Saves all the image data in the image buffer (specified with [main unit logging image]).

NA OK RST(*1) NA OK

Saves the last logging image NA OK RST(*1) NA OK

Saves System + Scene Group 0 data in a file NA OK RST(*1) NA OK

Captures a screen NA OK RST(*1) NA OK


3

Appendices

Command Details for PLC Link, EtherNet/IP, and EtherCATThis section provides details on the communications commands.

Executing Measurement

Executes measurement one time.

Command (PLC to Sensor Controller)

Response (Sensor Controller to PLC)

Starting Continuous Measurement

Starts continuous measurement.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1010 0001 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

First word in Response Area

Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1010 0001 0000 0001 0000 Command codeResponse target command codes+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000 Response codeCommand execution resultOK: 0(0000 0000)NG: Not 0 (0000 0000)

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1020 0001 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000

Command Control337


338


Stopping Continuous Measurement

Stops continuous measurement.



Unit Stand-alone Test Measurement Execution

Performs a test measurement on the specified unit.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1030 0001 0000 0011 0000Command code

+3 0010 0000 0000 0001 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1040 0001 0000 0100 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Unit No.

+5 - 0000 0000 0000 0000


3

Appendices


Clearing Measurement Values

Clears all measurement values.



You cannot use the Unit Stand-alone Test Measurement Execution command for the following Camera Image Input processing units.• Camera Image Input, Camera Image Input GigE, Camera Image Input FH,• Camera Image Input HDR, and Camera Image Input HDR Lite


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2010 0010 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

IMPORTANT

Command Control339


340

Clear Data Output Buffer

Clears the data output buffer.



Saving in Sensor Controller

Stores the current system data and scene group data in the Sensor Controller.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2020 0010 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 3010 0011 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Model Re-registration

Reregisters a model using the current model.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4010 0100 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Unit No.

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Model No.

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000 Specifies the target data.When the setting value is expressed in binary, if bit 1 of the first word in the Command Area + 8 is 1, the model is reregistered.When the setting value is expressed in binary, if the 2nd bit is 1, the reference position is updated.When the setting value is expressed in binary, if the 3rd bit is 1, the detection position is updated.Example)011: To reregister/update the model and reference position101: To reregister/update the model and detection point111: To reregister/update everything

+9 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control341


342

Scroll

The image display window whose number is specified is moved the specified distance in parallel. The setting range for the movement distance is not restricted. Also, because the scale for movement is independent of the display zoom ratio, the movement is not affected by change in the zoom ratio.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5010 0101 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Display image window number

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 X movement distance (camera coordinate system)+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000 Y movement distance (camera coordinate system)+9 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Zoom

Zooms the image display window whose number is specified in or out to the specified zoom ratio. The zoom ratio here is the ratio compared to the original image (100%).



Fit

Returns the display position and display zoom ratio for the image display window to their default values.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5020 0101 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Display image window number

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Sets magnification. (Value multiplied by 1000)Example)25%: Enter 250 (0.25 × 1,000)1,600%: Enter 16000 (16 × 1,000)

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5030 0101 0000 0011 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000 Display image window numberFH: Image display window number (0 to 23)FZ5:Displaying 1 image: 1Displaying 2 images: 1 and 2Displaying 4 images: 1 to 4Displaying thumbnails: 0 to 4

+5 - 0000 0000 0000 0000

Command Control343


344


Scene Data Copy

Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2. If there is already data at the copy destination, the copied data is written over that data.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7010 0111 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Copy source scene No.

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Copy destination scene No.

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Scene Data Deletion

Deletes the data for the scene whose number is specified with command argument 1.



Scene Data Move

Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2. Deletes scene data with a number specified by command argument 1 after completing copying. If there is already data at the copy destination, the copied data is written over that data.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7020 0111 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Number of the scene to delete

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7030 0111 0000 0011 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Source scene number

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Target scene number

+7 - 0000 0000 0000 0000

Command Control345


346



Registered Image Setting

Registers the specified image data as a registered image. After the command is executed, the status will be the same as when the image was registered with the Registered Image Manager. If the source is the last measured image (0), command argument 3 (logged image number of file name) can be omitted.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8010 1000 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Any data (0 to 999)

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Data type of source0: Last measured image1: Logged image2: Image file

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000 Logged image number or file nameIf the source is a logged image, specify the logging file number. (0 to Number of logged images in Controller − 1)If the source is an image file, specify the image file name (0 to 256 characters).

+9 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


3

Appendices


Loading Registration Images

Loads a specified registered image as a measurement image. After the command is executed, the status will be the same as when the image was loaded with the Registered Image Manager.



Echo

Returns as is any character string sent by an external device. Command argument 1 is alphanumerics only. Responds in the response areas +6+7 with the data that was set in command areas +4+5.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8010 1000 0000 0001 0000 Command codeResponse target command code+3 0010 0000 0000 0001 0000


+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8020 1000 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Registered image number (0 to 999)

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8020 1000 0000 0010 0000 Command codeResponse target command code+3 0010 0000 0000 0001 0000


+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 9010 1001 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000Any data (2 words)

+5 - 0000 0000 0000 0000

Command Control347


348


User Account Setting

Adds a user account to the specified group ID. If the group ID the account of the user currently logging in belongs is not 0, a command error occurs. If the user account to be set has already existed, it will be overwritten with the new account.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAny data (2 words)+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 A010 1010 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000 ID of group to which to add the user account0 to 7+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 User name of user account to addSingle-byte alphanumeric characters: 2 to 20 characters

: - 0000 0000 0000 0000

+21 - 0000 0000 0000 0000

+22 - 0000 0000 0000 0000

Password of user account to add: - 0000 0000 0000 0000

+37 - 0000 0000 0000 0000

+38 - 0000 0000 0000 0000User name of user account (UG0) that has the right to add user accounts

: - 0000 0000 0000 0000

+53 - 0000 0000 0000 0000

+54 - 0000 0000 0000 0000

Password (UG0): - 0000 0000 0000 0000

+70 - 0000 0000 0000 0000


3

Appendices


User Account Deletion

Deletes the specified user account. If the group ID the account of the user currently logging in belongs to is not 0, a command error occurs. If the specified user account does not exist, a command acknowledge returns.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 A010 1010 0000 0001 0000 Command codeResponse target command codes+3 0010 0000 0000 0001 0000


+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 A020 1010 0000 0010 0000Command code

+3 0010 0000 0000 0001 0000

+4 - 0000 0000 0000 0000

User name of user account to delete: - 0000 0000 0000 0000

+19 - 0000 0000 0000 0000

+20 - 0000 0000 0000 0000User name of user account (UG0) that has the right to delete user accounts

: - 0000 0000 0000 0000

+35 - 0000 0000 0000 0000

+36 - 0000 0000 0000 0000

Password (UG0): - 0000 0000 0000 0000

+52 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control349


350

Return to a Flow Head

Branches to the flow head (processing unit No. 0). Only supports execution of commands in the flow.



Restart

Restarts the Sensor Controller.


Response (Sensor Controller to PLC)There is no response because restarting is performed.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 B010 1011 0000 0001 0000Command code

+3 0010 0000 0000 0001 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 B010 1011 0000 0001 0000 Command codeResponse target command codes+3 0010 0000 0000 0001 0000


+5 - 0000 0000 0000 0000

• When a restart command is executed, BUSY does not turn off even after the command execution bit turns off.After a restart command is executed, perform a memory clear of BUSY on the PLC side.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 F010 1111 0000 0001 0000Command code

+3 0010 0010 0000 0001 0000

IMPORTANT


3

Appendices

Acquiring Scene Number

Acquires the current scene No.



Acquiring Scene Group Number

Acquires the current scene group No.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0020 0000 0000 0010 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAcquired scene No.+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0020 0000 0000 0010 0000

Command Control351


352


Getting Layout Number

Gets the number of the currently displayed layout.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAcquired scene group No.+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0020 0000 0000 0010 0000

+4 - 0000 0000 0000 0000 Item to acquire0: Local1: Remote+5 - 0000 0000 0000 0000

• For non-remote operation, only 0: Local can be specified. For remote operation, only 1: Remote can be specified.If any combination other than the above combinations is used, unexpected operation may occur when the command is executed.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataCurrent layout number (0 to 8)+7 - 0000 0000 0000 0000

IMPORTANT


3

Appendices

Getting Display Image Unit Nnumber

Gets the number of the unit currently displayed in the specified image display window.



Getting Display Sub-image Number

Gets the number of the sub-image currently displayed in the specified image display window.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5010 0101 0000 0001 0000Command code

+3 0020 0000 0000 0010 0000

+4 - 0000 0000 0000 0000 Image display window numberFH: Image display window number (0 to 23)FZ5: Displaying 1 image: 1Displaying 2 images: 1 and 2Displaying 4 images: 1 to 4Displaying thumbnails: 0 to 4

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataUnit No.+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5020 0101 0000 0010 0000Command code

+3 0020 0000 0000 0010 0000


+5 - 0000 0000 0000 0000

Command Control353


354


Getting Image Display State

Gets the image mode for the specified image display window.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataSub image number+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5030 0101 0000 0011 0000Command code

+3 0020 0000 0000 0010 0000


+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataImage mode0: Through1: Freeze or Freeze and Last NG together2: Last NG

+7 - 0000 0000 0000 0000


3

Appendices

Getting Communication Input State

Gets the input state (permitted/prohibited) for communication modules.



Getting Communication Output State

Gets the output state to an external device: Enabled or Disabled:



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7010 0111 0000 0001 0000Command code

+3 0020 0000 0000 0010 0000

+4 - 0000 0000 0000 0000 Communication module types0: Serial (Ethernet)1: Serial (RS-232C/422)2: Parallel I/O3: Fieldbus4: Remote operation

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataInput state0: Prohibited1: Permitted

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7020 0111 0000 0010 0000Command code

+3 0020 0000 0000 0010 0000

Command Control355


356


Get Parallel Terminal Status

Gets the state of the specified parallel I/O terminal: Active or Inactive.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataOutput state0: Prohibited1: Permitted

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8010 1000 0000 0001 0000Command code

+3 0020 0000 0000 0010 0000

+4 - 0000 0000 0000 0000 Terminal types0: STEP1: DSA2: DI11: DLINE

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Terminal numberWhen the Terminal Type Is STEPFH: 0 to 7: STEP0 to STEP7FZ5: 0: STEP0, 1: STEP1When the Terminal Type Is DSA0: DSA0, 1: DSA1When the Terminal Type Is DI0: DI0 to 7: DI7When the Terminal Type Is DILINE (FH Only)0 to 2: DILINE0 to DILINE2

+7 - 0000 0000 0000 0000


3

Appendices



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataTerminal state0: OFF1: ON

+7 - 0000 0000 0000 0000

The supported signals and signal assignments for an FH-series Sensor Controller depend on the number of lines used in Multi-line Random-trigger Mode.Reference: Multi-line Random Trigger Mode Signal Specifications (p.303)If you get the status of unused terminals, the response code will be OK and the response data will always be 0.

IMPORTANT

Command Control357


358

Get All Parallel Terminal Statuses

Gets the ON/OFF status of all parallel terminals except for DI terminals




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8020 1000 0000 0010 0000Command code

+3 0020 0000 0000 0010 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataTerminal status (ON: 1, OFF: 0)FH:

Bit 0: STEPnBit 1: DSAnBit 2: DILINE0Bit 3: DILINE1Bit 4: DILINE2n: Number of line that received the command

FZ5:Bit 0: STEP0Bit 1: STEP1Bit 2: DSA0Bit 3: DSA1

+7 - 0000 0000 0000 0000

The supported signals and signal assignments for an FH-series Sensor Controller depend on the number of lines used in Multi-line Random-trigger Mode.Reference: Multi-line Random Trigger Mode Signal Specifications (p.303)If you get the status of unused terminals, the response code will be OK and the response data will always be 0.

IMPORTANT


3

Appendices

Get All Parallel DI Terminal Statuses

Gets the ON/OFF states of all parallel DI terminals at once.



Acquires the Login Account Name

Acquiring the user name for the currently logged in account.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8030 1000 0000 0011 0000Command code

+3 0020 0000 0000 0010 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataTerminal stateBit 0: DI0Bit 1: DI1Bit 2: DI2Bit 3: DI3Bit 4: DI4Bit 5: DI5Bit 6: DI6Bit 7: DI7

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 9000 1001 0000 0000 0000Command code

+3 0020 0000 0000 0010 0000


Command Control359


360


Acquiring the Login Account Group ID

Acquires the group ID for the currently logged in account.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAcquired user name+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 9010 1001 0000 0001 0000Command code

+3 0020 0000 0000 0010 0000



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAcquired affiliated group ID+7 - 0000 0000 0000 0000


3

Appendices

Getting Operation Log State

Gets the logging operation state.



Scene Switching

Switches the scene to be used.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 A000 1010 0000 0000 0000Command code

+3 0020 0000 0000 0010 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataOperation log state gotten0: OFF1: ON

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000Scene No.

+5 - 0000 0000 0000 0000

Command Control361


362


Scene Group Switching

Switches the scene group to be used.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000Scene group No.

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Layout Switching

Sets the layout number and switches the window.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Settable Objects0: Local1: Remote+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Layout number0: Layout 01: Layout 12: Layout 23: Layout 34: Layout 45: Layout 56: Layout 67: Layout 78: Layout 8

+7 - 0000 0000 0000 0000



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

IMPORTANT

Command Control363


364

Display Image Unit Number Setting

Sets the number of the unit displayed in the specified image display window.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5010 0101 0000 0001 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Display image window numberFH: Image display window number (0 to 23)FZ5:

Displaying 1 image: 1Displaying 2 images: 1 and 2Displaying 4 images: 1 to 4Displaying thumbnails: 0 to 4

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Unit number (-1 to unit number of current scene -1)If you specify -1, [Define displayed unit] is set.+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Display Image Sub-numbers Setting

Sets the number of the sub-image displayed in the specified image display window.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5020 0101 0000 0010 0000Command code

+3 0030 0000 0000 0011 0000



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Sub image number.

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control365


366

Image Display State Setting

Sets the image mode for the specified image display window.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5030 0101 0000 0011 0000Command code

+3 0030 0000 0000 0011 0000



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Image mode0: Through1: Freeze or Freeze and Last NG together2: Last NG

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Communication Input State Setting

Permits/prohibits input to communication modules. Any communication module whose input state is set to Prohibit (0) accepts no communications whatsoever. However, inputs related to hardware (parallel STEP signals/DSA signals and ECAT STEP, etc.) are not included in the prohibition.



Communication Output State Setting

Permits/prohibits output to external devices. When the input state is disabled, i.e., set to (0), all the communications modules are unable to transmit data.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7010 0111 0000 0001 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Communication module types0: Serial (Ethernet)1: Serial (RS-232C/422)2: Parallel IO3: Fieldbus4: Remote operation

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Input state0: Prohibited1: Permitted+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 7020 0111 0000 0010 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Output state0: Prohibited1: Permitted+5 - 0000 0000 0000 0000

Command Control367


368


Set Parallel Terminal Status

Sets the state of the specified parallel I/O terminal: Active or Inactive.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8010 1000 0000 0001 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Terminal types4: ERR6: OR7: GATE9: DO10: ACK

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Terminal numberWhen the Terminal Type Is ERRFH: 0 to 7: ERR0 to ERR7FZ5: 0When the Terminal Type Is ORFH: 0 to 7: OR0 to OR7FZ5: 0: OR0, 1: OR1When the Terminal Type Is GATE0: GATE0, 1: GATE1When the Terminal Type Is READY (FZ5 Only)0: READY01: READY1When the Terminal Type Is DO0 to 15, DO0 to DO15When the Terminal Type Is ACK (FH Only) 0: ACK

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000 Terminal state0: OFF1: ON+9 - 0000 0000 0000 0000


3

Appendices


Set All Parallel Terminal Statuses

Sets the ON/OFF status of all parallel terminals, except for DO terminals.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

The supported signals and signal assignments for an FH-series Sensor Controller depend on the number of lines used in Multi-line Random-trigger Mode.Reference: Multi-line Random Trigger Mode Signal Specifications (p.303)If you set the status of unused terminals, the response code will be OK and the set terminal status will be discarded.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8020 1000 0000 0010 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Terminal stateFH:Bit 1: ERRnBit 3: ORnBit 4: GATEnBit 6: ACKn: Number of line to receive the command

FZ5:Bit 1: ERRnBit 3: ORnBit 4: GATEnBit 6: ACKn: Number of line to receive the command0: OFF, 1: ON

+5 - 0000 0000 0000 0000

IMPORTANT

Command Control369


370


Set All Parallel DO Terminal Statuses

Sets the ON/OFF status of all parallel DO terminals at once.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

The supported signals and signal assignments for an FH-series Sensor Controller depend on the number of lines used in Multi-line Random-trigger Mode.Reference: Multi-line Random Trigger Mode Signal Specifications (p.303)If you set the status of unused terminals, the response code will be OK and the set terminal status will be discarded.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 8030 1000 0000 0011 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Terminal state1st bit: DO0:16th bit: DO15

+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

IMPORTANT


3

Appendices

Login Account Setting

Switches the currently logged in account.



Operation Log State Setting

Sets the logged operation state. This command allows configuring the logging operation state in the same manner as for the Start/End Logging Operation buttons on the Main screen.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 9000 1001 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Settable Objects0: Local1: Remote+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000

User name of user account: : : : : :

+13 - 0000 0000 0000 0000

+14 - 0000 0000 0000 0000

Password: : : : : :

+21 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 A000 1010 0000 0000 0000Command code

+3 0030 0000 0000 0011 0000

+4 - 0000 0000 0000 0000 Logging operation state0: OFF1: ON+5 - 0000 0000 0000 0000

Command Control371


372


Acquiring Unit Data

Acquires the specified processing unit data.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

• In processing unit data setting/acquisition, you can get only numeric data. You cannot get character strings.• Character string data such as comparison strings for general-purpose character tests, evaluation comparison strings for

bar codes or 2D codes, or OCR recognition strings cannot be set or acquired.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0040 0000 0000 0100 0000

+4 - 0000 0000 0000 0000Unit No.

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Data number in the External Reference Tables.

+7 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Acquired data(Value multiplied by 1000)+7 - 0000 0000 0000 0000

IMPORTANT


3

Appendices

Acquiring Date and Time

Acquires the date and time from the internal calendar timer in the Sensor Controller.



Acquiring Version Information

Acquires the Sensor Controller version information.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Year data: 1900 to 2100

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000Month data: 1 to 12

+9 - 0000 0000 0000 0000

+10 - 0000 0000 0000 0000Date data: 1 to 31

+11 - 0000 0000 0000 0000

+12 - 0000 0000 0000 0000Hour data: 0 to 23

+13 - 0000 0000 0000 0000

+14 - 0000 0000 0000 0000Minute data: 0 to 59

+15 - 0000 0000 0000 0000

+16 - 0000 0000 0000 0000Second data: 0 to 59

+17 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 3000 0011 0000 0000 0000Command code

+3 0040 0000 0000 0100 0000

Command Control373


374



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000

Response dataVersion information character string

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000

+9 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

: - 0000 0000 0000 0000


3

Appendices

Acquiring Settings Related to Image Logging

Acquires settings related to image logging.


*1: Specifying the name of a folder to save toThe method for specifying the name of the folder to save to depends on the model.• FH/FZ5-11@@

RAM disk: C:\Data\RAMDiskUSB memory: E:\, F:\

• FZ5-L35@/FZ5-L6@@RAM disk: \RAMDiskUSB memory: \USBDisk, \USBDisk2

• For the FH/FZ5-11@@, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would reduce the storage area for scene data and other data and make correct operation impossible.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0040 0000 0000 0100 0000

+4 0000 0000 0000 0000 0000 [Identifier 0] [Identifier 1] [Identifier 0]: Logging[Identifier 1]: Identifier of settings data to set and set valueSeparate the setting name and set value with 00 (NULL).• ImageLogging + 0 (do not save)/1 (save only

NG)/2 (save all)• imageLoggingDirectory (image logging folder

name) + folder_name(*1) (single-byte alphanumeric characters)

• imageLoggingHeader + Prefix_for_image_logging_file_name (single-byte alphanumeric characters)

• DataLogging + 0 (do not save)/1 (save only NG)/2 (save all)

• dataLoggingDirectory (data logging folder name) + folder_name (single-byte alphanumeric characters)

+5 0000 0000 0000 0000 0000

+6 0000 0000 0000 0000 0000

+7 0000 0000 0000 0000 0000

: 0000 0000 0000 0000 0000

: 0000 0000 0000 0000 0000

Command Control375


376


Getting Image Logging Folder Name

Gets the image logging folder name




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000

Response dataSetting values related to image logging

+7 - 0000 0000 0000 0000

+8 - 0000 0000 0000 0000

+9 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4010 0100 0000 0001 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Response dataFolder name (absolute path)

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


3

Appendices

Getting Data Logging Folder Name

Gets the data logging folder name.



Getting Screen Capture Folder Name

Gets the screen capture folder name.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4020 0100 0000 0010 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4030 0100 0000 0011 0000Command code

+3 0040 0000 0000 0100 0000

Command Control377


378


Getting Image Logging Prefix

Gets the prefix for the name of the file the image logging is saved to.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4040 0100 0000 0100 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataImage logging prefix character string+7 - 0000 0000 0000 0000


3

Appendices

Getting Data Logging Condition

Gets the data logging conditions.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4050 0100 0000 0101 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataData logging condition gotten0: None1: Only NG2: All

+7 - 0000 0000 0000 0000

Command Control379


380

Get Parallel Terminal Offset

Gets the parallel DI terminal offset data.The parallel DI terminal offset is the value that is added to the DI0-DI4 command parameter when a parallel command is executed. After the Set Parallel Terminal Offset command is executed, the response data becomes "OK".




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4060 0100 0000 0110 0000Command code

+3 0040 0000 0000 0100 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Response dataAcquired parallel DI terminal offset value0 to 9999+7 - 0000 0000 0000 0000


3

Appendices

Setting Unit Data

Sets the specified processing unit data.



• In processing unit data setting/acquisition, you can get only numeric data. You cannot get character strings.• Character string data such as comparison strings for general-purpose character tests, evaluation comparison strings for

bar codes or 2D codes, or OCR recognition strings cannot be set or acquired.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0050 0000 0000 0101 0000

+4 0000 0000 0000 0000 0000Unit No.

+5 0000 0000 0000 0000 0000

+6 0000 0000 0000 0000 0000Data number in the External Reference Tables

+7 0000 0000 0000 0000 0000

+8 0000 0000 0000 0000 0000 Data to be set(Value multiplied by 1000)+9 0000 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3


+4 0000 0000 0000 0000 0000 Response codeCommand execution resultOK: 0 (0000 0000)NG: Not 0 (0000 0000)

+5 0000 0000 0000 0000 0000

IMPORTANT

Command Control381


382

Setting Date and Time

Sets the date and time of the internal calendar timer in the Sensor Controller.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0050 0000 0000 0101 0000

+4 0000 0000 0000 0000 0000Year data: 1900 to 2100

+5 0000 0000 0000 0000 0000

+6 0000 0000 0000 0000 0000Month data: 1 to 12

+7 0000 0000 0000 0000 0000

+8 0000 0000 0000 0000 0000Date data: 1 to 31

+9 0000 0000 0000 0000 0000

+10 0000 0000 0000 0000 0000Hour data: 0 to 23

+11 0000 0000 0000 0000 0000

+12 0000 0000 0000 0000 0000Minute data: 0 to 59

+13 0000 0000 0000 0000 0000

+14 0000 0000 0000 0000 0000Second data: 0 to 59

+15 0000 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3


+4 0000 0000 0000 0000 0000 Response codeCommand execution resultOK: 0(0000 0000)NG: Not 0 (0000 0000)

+5 0000 0000 0000 0000 0000


3

Appendices

Changes Settings Related to Image Logging

Changes settings related to image logging.


*1: If the name of a folder that does not exist is specified, a new folder will be created.*2: Specifying the name of a folder to save to

The method for specifying the name of the folder to save to depends on the model.• FH/FZ5-11@@

RAM disk: C:\Data\RAMDiskUSB memory: E:\, F:\

• FZ5-L35@/FZ5-L6@@RAM disk: \RAMDiskUSB memory: \USBDisk, \USBDisk2

• For the FH/FZ5-11@@, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would reduce the storage area for scene data and other data and make correct operation impossible.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0050 0000 0000 0101 0000

+4 0000 0000 0000 0000 0000 [Identifier 0] [Identifier 1] [Set value][Identifier 0]: Logging[Identifier 1]: Identifier of settings data to set and set valueSeparate the setting name and set value with 00 (NULL).• ImageLogging + 0 (do not save)/1 (save only

NG)/2 (save all)• imageLoggingDirectory (image logging folder

name) + folder_name(*1)(*2) (single-byte alphanumeric characters)

• imageLoggingHeader + Prefix_for_image_logging_file_name (single-byte alphanumeric characters)

• DataLogging + 0 (do not save)/1 (save only NG)/2 (save all)

• dataLoggingDirectory (data logging folder name) + folder_name (single-byte alphanumeric characters)

+5 0000 0000 0000 0000 0000

+6 0000 0000 0000 0000 0000

+7 0000 0000 0000 0000 0000

: 0000 0000 0000 0000 0000

: 0000 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3


+4 0000 0000 0000 0000 0000 Response codeCommand execution resultOK: 0(0000 0000)NG: Not 0 (0000 0000)

+5 0000 0000 0000 0000 0000

Command Control383


384

Image Logging Folder Name Setting

Sets the image logging folder name.



Data Logging Folder Name Setting

Sets the data logging folder name.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4010 0100 0000 0001 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000 Name of the image capture folder with the absolute pathUp to 230 characters

+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4020 0100 0000 0010 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000 Name of the data logging folder with the absolute path.Up to 247 characters

+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


3

Appendices


Screen Capture Folder Name Setting

Sets the screen capture folder name.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4030 0100 0000 0011 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000 Name of the image capture folder with the absolute path.Up to 227 characters

+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control385


386

Image Logging Prefix Setting

Sets the prefix for the name of the file the image logging is saved to.



Data Logging Condition Setting

Sets the data logging conditions.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4040 0100 0000 0100 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000Image logging prefixUp to 32 characters

+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4050 0100 0000 0101 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000 Data logging condition0: None1: Only NG2: All

+5 - 0000 0000 0000 0000


3

Appendices


Set Parallel Terminal Offset

Sets the parallel DI terminal offset data.The parallel DI terminal offset is the value that is added to the DI0-DI4 command parameter when a parallel command is executed.This is useful in the following cases.Example)This example is for creating a custom communications command for parallel communications that sets a numeric value with DI0 to DI6.• Without an Offset:

You can set only values between the minimum value of 0 and the maximum value of 127 (0111 1111 binary).• With an Offset:

Adding an offset of 100 allows you to specify numeric values from a minimum value of 100 to a maximum value of 227 (127 + 100) by specifying the same values as those used without offsets.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4060 0100 0000 0110 0000Command code

+3 0050 0000 0000 0101 0000

+4 - 0000 0000 0000 0000 Parallel DI terminal offset data0 to 9999+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control387


388

Loading Scene Data

Reads scene data.



Loading Scene Group Data

Reads scene group data.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0060 0000 0000 0110 0000

+4 - 0000 0000 0000 0000Number of scene to read

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 Name of the file to be read with the absolute path. Up to 256 characters

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0060 0000 0000 0110 0000

+4 - 0000 0000 0000 0000Number of scene group to read

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000Name of the file to be read with an absolute pathUp to 256 characters

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


3

Appendices


Loading System Data

Reads system data.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 3000 0011 0000 0000 0000Command code

+3 0060 0000 0000 0110 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

Command Control389


390

Loading All Data

Reads system + scene group 0 data.



With this command, be sure to restart the Sensor Controller after reading the system + scene group 0 data to enable the data that was read.


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5000 0101 0000 0000 0000Command code

+3 0060 0000 0000 0110 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000

IMPORTANT


3

Appendices

Saving Scene Data

Saves scene data.



Saving Scene Group Data

Saves scene group data.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 1000 0001 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 - 0000 0000 0000 0000Number of scene to save

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000[Absolute path of save destination and save file name]Up to 256 characters

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

+135 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 2000 0010 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 - 0000 0000 0000 0000Number of scene group to save

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000 [Absolute path of save destination and save file name]Up to 256 characters

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

Command Control391


392


Saving System Data

Saves system data.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 3000 0011 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Saves Image Data

Saves the image data that is saved in the Sensor Controller's memory



Saving All Image Data

Writes all of the image data that is saved in the Sensor Controller's memory to ifz format in external memory.



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4000 0100 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 - 0000 0000 0000 0000Image data No.

+5 - 0000 0000 0000 0000

+6 - 0000 0000 0000 0000

[Absolute path of save destination and file name]Up to 256 characters

+7 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4010 0100 0000 0001 0000Command code

+3 0070 0000 0000 0111 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

Command Control393


394


Saving Last Logging Image

Saves the last logging image.




Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 4020 0100 0000 0010 0000Command code

+3 0070 0000 0000 0111 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Saving All Data

The system + scene group 0 data currently being used by the Sensor Controller is saved to a file.



Screen Capture

Captures the screen. The argument specifies a file name and extension in the absolute path of the save destination. The extension is "bmp". If there is no argument, the folder in which the captured image is saved is determined by the system data settings, and the file name is the time stamp. The extension is "bmp".(Refer to Capturing Screen Images in the FH/FZ5 Series Image Processing System User's Manual (Cat No. Z340).)



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 5000 0101 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000


+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3

+2 6000 0110 0000 0000 0000Command code

+3 0070 0000 0000 0111 0000

+4 - 0000 0000 0000 0000 Absolute path of save destination and save file nameWhen 00 00 00 00 is set in +4 or higher, the command operates without an argument

+5 - 0000 0000 0000 0000

: - 0000 0000 0000 0000

Command Control395


396



Command code

BitDescription

12 to 15 8 to 11 4 to 7 0 to 3



+5 - 0000 0000 0000 0000


3

Appendices

Non-procedure Command DetailsThis section describes details of commands used in non-procedure communication.

ALLIMAGESAVE or AIS

Writes all the image data in the image buffer (specified with [main unit logging image]) to external memory in ifz format.

<Command format>

or

<Response format>When processing is performed normally

When processing is not performed normally

<Parameters explanation>

(Example)When saving to the "IMG01" folder of the USB memory

<Command>

<Response>

Destination folder name

Specify the name of the folder to save to with the absolute path (e.g., \USBDisk\, E:\).Save destinations include directories under the following systems.

Save destination FH/FZ5-11@@ series FZ5-L35@/6@@ series

RAMDisk C:\Data\RAMDisk \RAMDISK

USBDisk E:\, F:\, G:\, H:\ \USBDisk to \USBDisk3

A L L I M A G E S A V E

Destination folder name (256 characters max.)

CR

A I S

Destination folder name (256 characters max.)

CR

\ \ \

Command Control397


398

BKDLOAD

Reads system + scene group 0 data.

<Command format>




(Example)When "LABEL1.BKD" in the "IMG01" folder of the USB memory to which the drive name "USBDisk2" is assigned is loaded to the Sensor Controller

<Command>

<Response>

System + scene group data file name

Specifies the name of the file to be read with the absolute path (e.g., \USBDisk\abc.bkd, E:\abc.bkd).Only files that are under the following systems and have a "BKD" extension can be read.




• Do not turn off power to the Sensor Controller until there is a response.

IMPORTANT

\ \ \


3

Appendices

BKDSAVE

The system + scene group 0 data currently being used by the Sensor Controller is saved to a file.

<Command format>




(Example)When the currently used system + scene group 0 data is saved as "LABEL1.BKD" in the "IMG01" folder in the USB memory to which the drive name "USBDisk2" is assigned

<Command>

<Response>

System + scene group data File name

Specifies the save destination and file name during saving with the absolute path (e.g., \USBDisk\abc.bkd, E:\abc.bkd).Save destinations include directories under the following systems. Be sure to attach a "BKD" extension to the file name.





IMPORTANT

S A V E \ \ \

Command Control399


400

BRUNCHSTART or BFU

Branches to the flow head (processing unit No. 0). This command can only be executed when the corresponding flow control processing item is used.

<Command format>

or



CLRMEAS

Clears all of the measurement values of the current scene.

<Command format>



Window display status after clearing

Judgement result Unmeasured (0)

Value 0

Character string Null character

B R U N C H S T A R T CR

B F U CR


3

Appendices

CPYSCENE or CSD

Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2. If there is already data at the copy destination, the copied data is written over that data.

<Command format>

or




(Example)Copying the scene data for Scene 2 to Scene 10

<Command>

<Response>

Copy destination scene No.

Specifies the scene No. to copy from (0 to the number of scenes in the scene group − 1).

Copy destination scene No.

Specifies the scene No. to copy to (0 to the number of scenes in the scene group − 1).

C P Y S C E N E

Copy destination scene No. (3 digits max.)

CR

Copy source scene No. (3 digits max.)

C S D

Copy destination scene No. (3 digits max.)

CR

Copy source scene No. (3 digits max.)

Command Control401


402

DATALOGCOND or DLC

Getting the data logging conditionGets the data logging condition for system data.Gets the "data logging condition" on the logging setting screen.

<Command format>

or




(Example)When data logging condition is set to "None".

<Command>

<Response>

Data logging condition0: None1: Only NG2: All


3

Appendices

Setting the data logging conditionSets the data logging conditions for system data.Sets the "Data logging condition" on the Logging Setting window .

<Command format>

or




(Example)When setting the data logging condition to "All"

<Command>

<Response>

Data logging condition0: None1: Only NG2: All

Command Control403


404

DATALOGFOLDER or DLF

Getting the data logging folder nameGets the set data logging folder name.

<Command format>

or




(Example)When setting the logging data save destination to "RAMDisk"

<Command>

<Response>

Data logging folder name Responds with the data logging folder name with its absolute path.


3

Appendices

Setting the data logging folder name

Sets the data logging folder name.

<Command format>

or




(Example)When setting the data logging folder name to "USBDisk"

<Command>

<Response>

Data logging folder name

Specify the name of the data logging folder with the absolute path (e.g., \USBDisk\, E:\).Save destinations include directories under the following systems.




R

Data logging folder name (128 characters max.)

CRD A T A L O G F O L D E

F

Data logging folder name (128 characters max.)

CRD L

Command Control405


406

DATASAVE

Saves system data and scene group data to the internal flash memory in the Sensor Controller.

<Command format>



• If DATASAVE command is executed when using scene groups 1 to 31, system data is saved on the Sensor Controller's flash memory and scene group data is saved to the USB memory. If there is no USB memory plugged in, ER is returned.


Note


3

Appendices

DATE

Acquiring date and timeAcquires the date and time from the internal calendar timer in the Sensor Controller.

<Command format>




(Example)When the current date and time is 08/30/2007, 12:30:00

<Command>

<Response>

Year/Month/Date/Hour/Minute/Second

Year: 4 digitsMonth: 2 digitsDate: 2 digitsHour: 2 digitsMinute: 2 digitsSecond: 2 digits

Command Control407


408

Setting date and timeChanges the date and time of the internal calendar timer in the Sensor Controller.

<Command format>



(Example)When changing the date and time to 8/30/2007, 12:30:00

<Command>

<Response>

• <Hour: 2 digits>, <Minute: 2 digits>, and <Second: 2 digits> can be omitted during setting. Settings cannot be updated when these are omitted, however, and the previous time will be kept unchanged.Allowable omission patterns include "omitting <second> only", "omitting <minute> and <second>", and "omitting <hour>, <minute>, and <second>". Patterns that cannot be used include "omitting <hour> only" and "omitting <minute> only".

Note


3

Appendices

DELSCENE or DSD

Deletes the data for the scene whose number is specified with command argument 1.

<Command format>

or




(Example)Deleting the scene data for Scene 2

<Command>

<Response>

Scene No. Specify the scene No. to delete the scene data for (0 to the number of scenes in the scene group −1).

D E L S C E N E CR

Scene No. (3 digits max.)

D S D CR


Command Control409


410

DIOFFSET or DIO

Gets or sets the value of the parallel DI terminal offset data.The parallel DI terminal offset is the value that is added to the DI0-DI4 command parameter when a parallel command is executed.It is convenient to use a parallel DI terminal offset in cases such as the following.Example: Creating a Custom Communications Command for Parallel Communications That Sets a Numeric Value with DI0 to DI6• Without an Offset:

You can set only values between the minimum value of 0 and the maximum value of 127 (0111 1111 binary).• With an Offset:

Adding an offset of 100 allows you to specify numeric values from a minimum value of 100 to a maximum value of 227 (127 + 100) by specifying the same values as those used without offsets.

Getting the parallel DI terminal offset dataAcquires the parallel DI terminal offset data.After the Set Parallel Terminal Offset command is executed, the response data becomes "OK".

<Command format>

or




(Example)When the parallel DI terminal offset data is "10"

<Command>

Parallel DI terminal offset data This is the value that is set for the parallel DI terminal offset data (0 - 9999).

When the value of the parallel DI terminal offset data is set to "10", the Switch Scene parallel command will change the scene to scene 10 instead of scene 0 when "0" is specified in the target scene parameter.

Note


3

Appendices

<Response>

Command Control411


412

Sets the parallel DI terminal offset data

Sets the parallel DI terminal offset data.

<Command format>

or




(Example)Setting the parallel DI terminal offset data to "10"

<Command>

<Response>

Parallel DI terminal offset data Specify the parallel DI terminal offset data (0 - 9999).

D I O F F S E T CR

Parallel DI terminal offset data (max. 4 digits)

D I O CR

Parallel DI terminal offset data (max. 4 digits)


3

Appendices

DIPORTCOND or DPC

Gets the ON/OFF states of all parallel DI terminals at once.

<Command format>

or




(Example)When DI0 and DI4 are ON

<Command>

<Response>

Terminal state

Responds with the DI0-DI7 states (0-255).• 1st bit: DI0• 2nd bit: DI1

:• 8th bit: DI7

Command Control413


414

DOPORTCOND or DPC

Sets the ON/OFF states of all parallel DO terminals at once.

<Command format>

or




(Example)When setting DO0 and DO4 ON

<Command>

<Response>

Terminal state

Specify the DO terminals to switch ON (0-65535).• 1st bit: DO0• 2nd bit: DO1

:• 16th bit: DO15


3

Appendices

ECHO or EEC

Returns as is any character string sent by an external device. Only single-byte alphanumerics can be used.

<Command format>

or




(Example)When returning the character string "TEST"

<Command>

<Response>

Arbitrary character string

Sets the character string returned as is. The response is the character string set here as is.

E C H O CR

Arbitrary character string (256 characters max.)

E E C CR

Arbitrary character string (256 characters max.)

E E C E S TT CR

E S TT CR

Command Control415


416

IMAGECAPTURE or EIC

Captures the screen. The folder into which the captured image is saved depends on the system data setting. The file name depends on the argument.• No argument: Time stamp (Reference: Capturing Screen Images in the Vision System FH/FZ5 Series User's

Manual (Cat. No. Z340))• Argument: Saves with the file name in the argument. If the file name extension is other than ".bmp", then ".bmp" is added

to the file name.

<Command format>No argument

or

With argument

or




(Example)When capturing an image to the file named "abc.bmp"

<Command>

<Response>

File name

Specify the save destination and file name for saving with the absolute path (e.g., C:\Data\RAMDisk\abc.bmp, \RAMDISK\abc.bmp).Be sure to attach the "BMP" extension to the file name.



E C A P T U R E CRI M A G

File name (256 characters max.)

E I C CR

File name (256 characters max.)


3

Appendices

IMAGECAPTUREFOLDER or ICF

Getting the screen capture folder nameGets the set screen capture folder name.

<Command format>

or




(Example)When the screen capture save destination is set to "RAMDisk"

<Command>

<Response>

Screen capture folder nameResponds with the name of the folder that the screen capture is saved to with its absolute path.

Command Control417


418

Setting the screen capture folder nameSets the screen capture folder name.

<Command format>

or




(Example)When setting the screen capture folder name to "USBDisk"

<Command>

<Response>

Screen capture folder name

Specify the name of the folder to save the screen capture into with the absolute path (e.g., \USBDisk\, E:\).Save destinations include directories under the following systems.




I M A G E C A P T U R E F O L D E R

Screen capture folder name(128 characters max.)

CR

I C F

Screen capture folder name (128 characters max.)

CR


3

Appendices

IMAGEDISPCOND or IDC

Gets image modeGets the image mode for the specified Image Display window.

<Command format>

or




(Example)When getting the image mode of the image display window 1 (through)

<Command>

<Response>

Image display window number

Display image window numberFH: Image display window number (0 to 23)FZ5:


Image mode0: Through1: Freeze or Freeze and Last NG together2: Last NG

I M A G E D I S P C O N D

Image display window number (2 digits max.)

CR

I D C CR


Command Control419


420

Sets image modeSets the image mode for the specified Image Display window.

<Command format>

or




(Example)When setting "Last NG" for the image mode for the image display window 1

<Command>

<Response>


Display image window numberFH: Image display window number (0 to 23)FZ5:


Image mode0: Through1: Freeze or Freeze and Last NG together2: Last NG

I M A G E D I S P C O N D CR

Image display window number (2 digits max.)Image mode (1 digit)

I D C CR

Image display window number (2 digits max.)Image mode (1 digit)


3

Appendices

IMAGEFIT or EIF

Returns the display position and display zoom ratio for the image display window to their default values.

<Command format>

or





Number of the image display window to return the display position and display magnification to their default values.FH: Image display window number (0 to 23)FZ5:


Before fitting After fitting

I M A G E F I T CR


E I F CR


Command Control421


422

(Example)When returning the display position and display zoom ratio for the image display window "1" to their default values

<Command>

<Response>

IMAGELOGFOLDER or ILF

Getting the image logging folder nameGets the set image logging folder name.

<Command format>

or




(Example)When the image logging save destination is set to "RAMDisk"

<Command>

<Response>

Image logging folder name Responds with the name of the folder the logging image is saved to with its absolute path.


3

Appendices

Setting the image logging folder name

Sets the image logging folder name.

<Command format>

or




(Example)When setting the image logging folder name to "USBDisk"

<Command>

<Response>

Image Logging folder name

Specify the name of the folder to save the logging image into with the absolute path (e.g., \USBDisk\, E:\).Save destinations include directories under the following systems.




I M A G E L O G F O L D E R

Image logging folder name(128 characters max.)

CR

I L F

Image logging folder name(128 characters max.)

CR

Command Control423


424

IMAGELOGHEADER or ILH

Getting the prefix for the name of the file the image logging is saved toGets the prefix for the name of the file the image logging is saved to. The maximum length of the prefix character string is 32 characters.

<Command format>

or




(Example)When the prefix for the name of the file the image logging is saved to is set to "abc"

<Command>

<Response>

Image logging prefix Responds with the prefix for the name of the file the image logging is saved to.

I M A G E L O G H E A D CRRE


3

Appendices

Setting the prefix for the name of the file the image logging is saved toSets the prefix for the name of the file the image logging is saved to. The maximum length of the prefix character string is 32 characters.

<Command format>

or




(Example)When setting "abc" as the prefix for the name of the file the image logging is saved to

<Command>

<Response>

Image logging prefixSets the prefix for the name of the file the image logging is saved to (with a maximum of 32 characters).The set character string is added at the beginning of the name of the save file.

I M A G E L O G H E A D E R

Image logging prefix(32 characters max.)

CR

I L H

Image logging prefix (32 characters max.)

CR

Command Control425


426

IMAGESCROLL or EIS

The image display window whose number is specified is moved the specified distance in parallel. The setting range for the movement distance is not restricted. Also, because the scale for movement is independent of the display zoom ratio, the movement is not affected by change in the zoom ratio.

<Command format>

or







Movement amount X Sets the X-direction movement distance (camera coordinate system).

Movement amount Y Sets the Y-direction movement distance (camera coordinate system).

Before scrolling After scrolling

I M A G E S C R O L L

Movement amount Y

CR

Movement amount XImage display window number (2 digits max.)

E I S

Movement amount Y

CR

Movement amount XImage display window number (2 digits max.)


3

Appendices

(Example)When moving the image display window "1" image in parallel "20" in the X direction and "10" in the Y direction

<Command>

<Response>

E I S 1 2 0 1 0 CR

Command Control427


428

IMAGESUBNO or ISN

Getting the number of the currently displayed sub-image.Gets the number of the sub-image currently displayed in the specified image display window.

<Command format>

or




(Example)When getting the number of the sub-image being displayed in image display window "1"

<Command>

<Response>


Number of the image display window for which to get the image mode.FH: Image display window number (0 to 23)FZ5:


Sub image number Responds with the number of the sub-image displayed in the current image display window.

I M A G E S U B N O CR


I S N CR



3

Appendices

Setting the number of the currently displayed sub-imageSets the number of the sub-image displayed in the specified image display window.

<Command format>

or




(Example)When setting "2" as the number of the sub-image displayed in image display window "1"

<Command>

<Response>


Number of the image display window for which to set the image mode.FH: Image display window number (0 to 23)FZ5:


Sub image number Sets the number (0 to 31) of the sub-image displayed in the image display window.

CR

Sub image number (3 digits max.)Image display window number (2 digits max.)

I M A G E S U B N O

I S N CR

Image display window number (2 digits max.)Sub image number (3 digits max.)

Command Control429


430

IMAGEUNITNO or IUN

Getting the number of the currently displayed unitGets the number of the unit currently displayed in the specified image display window.

<Command format>

or




(Example)When getting the number (0) of the unit being displayed in image display window "1"

<Command>

<Response>


Number of the image display window for which to get the unit number.FH: Image display window number (0 to 23)FZ5:


Unit No. Responds with the number of the unit displayed in the current image display window.

I M A G E U N I T N O


CR

I U N CR



3

Appendices

Setting the number of the displayed unitSets the number of the unit displayed in the specified image display window.

<Command format>

or




(Example)When setting "2" as the number of the unit displayed in image display window "1"

<Command>

<Response>


Number of the image display window for which to set the unit number.FH: Image display window number (0 to 23)FZ5:


Unit No.Sets the number (0 to number of units in current scene −1) of the unit displayed in the image display window.

I M A G E U N I T N O


CR

Unit No.

I U N CR

Image display window number (2 digits max.)Unit No.

Command Control431


432

IMAGEZOOM or EIZ

Zooms the image display window whose number is specified in or out to the specified zoom ratio. The zoom ratio here is the ratio compared to the original image (100%).

<Command format>

or



Before zooming After zooming (zoom in)

After zooming (zoom out)

I M A G E Z O O M

Magnification (6 digits max.)

CR


E I Z

Magnification (6 digits max.)

CR



3

Appendices


(Example)When zooming in image display window "1" to 200%

<Command>

<Response>




MagnificationSets the zoom ratio (250-16000).250 means 25%; 16000 means 1600%.

Command Control433


434

IMGSAVE

Saves image data.

<Command format>




*1: The maximum number of images that can be logged depends on the model of the Sensor Controller that you use and the models and number of connected Cameras. For details, refer to Number of Logged Images in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340) for the maximum number of images that can be logged (I_MAX).

(Example)When the image data of image data No. 3 is saved with the file name "LABEL1.IFZ" in the "IMG01" folder in the USB memory to which the drive name "USBDisk2" is assigned

<Command>

Image data No.

Specifies the No. of the image data to be saved (0 to max. number of logging images (I_MAX)).(*1)

The maximum number of logging images can be a number with a maximum of 3 digits. The number of images will vary depending on the Sensor Controller used and the camera connected. The image data number of the latest image is 0.Refer to About Number of Logged Images in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340)

Save destination

Specifies the save destination and file name during saving with the absolute path (e.g., \USBDisk\abc.IFZ, E:\abc.IFZ).Save destinations include directories under the following systems. Be sure to attach an "IFZ" extension to the file name.




• If the specified file name already exists, this existing file will be overwritten• Do not turn off power to the Sensor Controller until there is a response.

IMPORTANT


3

Appendices

<Response>

Command Control435


436

INPUTTRANSSTATE or ITS

Getting communication module input statesGets the input state (permitted/prohibited) for communication modules.

<Command format>

or




(Example)Getting the input status when serial (Ethernet) inputs are enabled (= 1)

<Command>

<Response>

Communication module types

0: Serial (Ethernet)1: Serial (RS-232C/422)2: Parallel IO3: Fieldbus4: Remote operation

Input state0: Prohibited1: Permitted

I T S 0 CR


3

Appendices

Setting communication module input states

Permits/prohibits input to communication modules.Any communication module whose input state is set to Prohibit (0) accepts no communicationswhatsoever. However, inputs related to hardware (parallel STEP signals/DSA signals and ECAT STEP, etc.) are not included in the prohibition.

<Command format>

or



(Example)Setting the serial (RS-232C/422) input state to prohibited

<Command>

<Response>

0I T S 1 CR

Command Control437


438

LASTIMAGESAVE or LIS

Executes a save of the last input image. The character string handed over by the argument is used as the file name.

<Command format>

or




(Example)When saving the last input image to the file named "abc.ifz".

<Command>

<Response>

File name

Specify the save destination and file name for saving with the absolute path (e.g., C:\Data\RAMDisk\abc.ifz, \RAMDISK\abc.ifz).If you only give the folder name, then the "[time stamp].ifz" is automatically assigned as the file name.



• When the extension is "ifz", the image is saved with the specified file name.• When the extension is anything other than "ifz", the image is saved with ".ifz" appended to the file name.• If there is no extension (only the folder name is given), the image is saved to a file named time stamp ".ifz".

Note


3

Appendices

LAYOUTNO or DLN

Gets or sets the current layout number.

Getting the layout numberGets the number of the currently displayed layout.

<Command format>

or




(Example)When the currently displayed window (local) is the RUN window

<Command>

<Response>


Acquisition target0: Local1: Remote

Layout number Current layout number (0 to 8)

IMPORTANT

Command Control439


440

Setting the layout numberSets the layout number and switches the window.

<Command format>

or



(Example)When displaying the RUN window (local)

<Command>

<Response>


3

Appendices

LOGINACCOUNT or LAI

Acquires the user name for the currently logged in user accountGets the user ID for the currently logged in account.

<Command format>

or




(Example)Getting the name of the user (abc) that is currently logged in (local)

<Command>

<Response>


User ID Returns the user ID in the user account used by the user currently logging in.

Command Control441


442

Switching the currently logged in accountSwitches the currently logged in account.

<Command format>

or




(Example)When switching to user ID "abc" with password "efg" (local)

<Command>

<Response>

Settable Objects0: Local1: Remote

User ID Specify the ID for the user to switch (32 characters maximum).

Password Specify the password for the user to switch (32 characters maximum).

L O G I N A C C O U N T

User ID (32 characters max.)

CR

Password (32 characters max.)

Setting target (1 digit)

L A I


CR

Password (32 characters max.)

Setting target (1 digit)


3

Appendices

LOGINACCOUNTGROUP or LAG

Gets the group ID in the user account used by the user currently logging in.

<Command format>

or




(Example)The following sample command returns user group ID "UG1" in the user account used by the user currently logging in.

<Command>

<Response>


Group ID Returns the group ID in the user account used by the user currently logging in.

Command Control443


444

MEASURE or M

Executing measurementExecutes measurement one time.

<Command format>




Starts continuous measurementStarts continuous measurement.

<Command format>


Non-procedure Normal (Fxxx series)

• About "Normal (Fxxx series method)"Reference: Command Formats (p.271)

Measurement resultWhen "Data Output" is set in the flow, the measurement results are output.When "Data Output" is not set, the measurement results are not output.Reference: Output Format (p.277)

Note


3

Appendices



Completes continuous measurementContinuous measurement ends.

<Command format>



Measurement resultThe measurement results from the number of times continuous measurement is performed are output as a response.Reference: Output Format (p.277)

• To output measurement results, insert a [Data Output] processing unit in the scene. When the scene does not have a [Data Output] processing unit, only a command response is output.Reference: Output Format (p.277)Reference: Output Data Settings (Processing Item Registration) (p.173), (p.262)

Note

Command Control445


446

MEASUREUNIT or MTU

Performs a test measurement on the specified unit.

<Command format>

or




(Example)The following sample command runs a test on unit number 5:

<Command>

<Response>

Unit No. Specifies the unit number to run a test with: 0 to the uppermost unit model number in the scene.


3

Appendices

MOVSCENE or MSD

Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2. Deletes scene data with a number specified by command argument 1 after completing copying. If there is already data at the copy destination, the copied data is written over that data.

<Command format>

or




(Example)The following sample command moves the scene data saved under scene 2 to scene 10:

<Command>

<Response>

Source scene numberSpecifies the scene number to copy scene data from: 0 to the number of the scenes in the scene group −1.

Target scene numberSpecifies the target scene number for copying scene data: 0 to the number of the scenes in the scene group −1.

M O V S C E N E

Source scene number (3 digits max.)

CR

Target scene number (3 digits max.)

M S D

Source scene number (3 digits max.)

CR

Target scene number (3 digits max.)

Command Control447


448

OPELOGCOND or OLC

Gets logging operation stateGets the logging operation state.

<Command format>

or




(Example)The following sample command returns an enabled logging operation state:

<Command>

<Response>

Logging operation state0: OFF1: ON


3

Appendices

Sets logged operation stateSets the logged operation state. This command allows configuring the logging operation state in the same manner as for the Start/End Logging Operation buttons on the Main screen.

<Command format>

or



(Example)The following sample command enables the logging operation state.

<Command>

<Response>

Command Control449


450

OUTPUTTRANSSTATE or OTS

Gets output state to external deviceGets the output state to an external device: Enabled or Disabled:

<Command format>

or




(Example)The following sample command retrieves the output state, Enabled:

<Command>

<Response>

Output state0: Prohibited1: Permitted


3

Appendices

Sets the output state to external devicePermits/prohibits output to external devicesWhen the input state is disabled, i.e., set to (0), all the communications modules are unable to transmit data.

<Command format>

or



(Example)Setting the output status to external devices to prohibited or prohibiting output to external devices

<Command>

<Response>

Command Control451


452

PARAALLCOND or PAC

Gets all parallel terminal states at once, except for DI terminalsGets the ON/OFF states of all parallel terminals at once, except for DI terminals.

<Command format>

or




(Example)The following sample command returns the state of enabled STEP0 and DSA1:

<Command>

<Response>

The response of 1001 (binary) is given as 9 (decimal).

Terminal state

Returns the states of terminals 0 to 15:• 0th bit: STEP0• 1st bit: DSA0• 2nd bit: STEP1• 3rd bit: DSA1


3

Appendices

Sets all parallel terminal states at once, except for DO terminalsSets the ON/OFF states of all parallel terminals at once, except for DO terminals.

<Command format>

or




(Example)The following sample command activates RUN:

<Command>

<Response>

Terminal state

Sets the following terminal states (0 to 15):0th bit: RUN1st bit: ERR2nd bit: BUSY3rd bit: OR04th bit: OR15th bit: GATE06th bit: GATE17th bit: READY08th bit: READY11: ON, 0: OFF

Command Control453


454

PARAPORTCOND or PPC

Gets the state of specified parallel I/O terminalGets the state of the specified parallel I/O terminal: Active or Inactive.

<Command format>

or




(Example)The following sample command gets the state of STEP1:

<Command>

<Response>

Terminal types0: STEP1: DSA2: DI

Terminal number

Specifies the terminal number: 0 to 15.When the terminal type is STEP, 0: STEP0, 1: STEP1When the terminal type is DSA, 0: DSA0, 1: DSA1When the terminal type is DI, 0: DI0 to 7: DI7

Terminal state0: OFF1: ON

P P C 0 1 CR


3

Appendices

Sets the state of specified parallel I/O terminalSets the state of the specified parallel I/O terminal: Active or Inactive.

<Command format>

or




(Example)Setting READY0 to ON

<Command>

Terminal types

3: RUN4: ERR5: BUSY6: OR7: GATE8: READY9: DO

Terminal number

Specifies the terminal number: 0 to 15.When the terminal type is RUN, ERR or BUSY0When the terminal type is OR0: OR0, 1: OR1When the terminal type is GATE0: GATE01: GATE1When the terminal type is READY0: READY01: READY1When the terminal type is DO0: DO0 to 15: DO15

Terminal state0: OFF1: ON

P P C 8 0 1 CR

Command Control455


456

<Response>


3

Appendices

REGIMAGE or RID

Registers specified image data as registered imageRegisters the data of a specified image as a registered image. The status after the command is executed is the same as after the operation is executed for the Register Button in the Registered Image Manager. If the source to register is 0, the last measured image, command argument 3, can be omitted.

<Command format>

or




(Example)When an image with registered image number "100" and logging image number "10" is registered

<Command>

<Response>

Registered image number Specifies the registered image number: 0 to 999.

Source to register0: Last measured image1: System logging image2: Image file

Logging image number/File name

If you have specified a system logging image as the source to register, specify a logging image number: 0 to the number of the logging system images −1.If you have specified an image file, specify a file name with 0 to 256 characters.

R E G I M A G E

Source to register (1 digit)

CR

Logging image number/File name (256 characters max.)

Registered image number (3 digits max.)

R I D

Source to register (1 digit)

CR

Logging image number/File name (256 characters max.)

Registered image number (3 digits max.)

Command Control457


458

Loads specified image data as registered imageLoads a specified registered image as a measured image. The status after the command is executed is the same as after the operation is executed for the Read Button in the Registered Image Manager.

<Command format>

or




(Example)The following sample command loads the image with registered image number 100 as a measured image.

<Command>

<Response>

RESET

Restart the Sensor Controller.

<Command format>

<Response format>None

Registered image number Specifies the registered image number: 0 to 999.


3

Appendices

SCENE or S

Acquires scene numberAcquires the current scene No.

<Command format>




(Example)When scene 0 is being used

<Command>

<Response>

Scene No. The acquired scene No. (currently used scene No.) is output as a response (0 to 127).

CR

CO K R


Command Control459


460

Scene switch No.Switches the scene number to be used.

<Command format>




(Example)When switching to scene 2

<Command>

<Response>

Scene No. Specifies the scene No. after switching (0 to 127).

E N E CRS C



3

Appendices

SCNGROUP or SG

Acquires scene group numberAcquires the current scene group No.

<Command format>




(Example)When scene group 0 is being used

<Command>

<Response>

Scene group No.The acquired scene group No. (currently used scene group No.) is output as a response (0 to 31).

Command Control461


462

Switches the scene group numberSwitches the scene group number to be used.

<Command format>




(Example)When switching to scene group 2

<Command>

<Response>

Scene group No. Specifies the scene group No. after switching (0 to 31).

• During parallel continuous measurement and when the STEP signal is input continuously, do not perform switching of the scene group. When this is performed, set "Unchecked" in "Save scene group on switch scene" in either of the settings items below.

• Switch Scene Group window (Reference: Changing the Scene or Scene Group in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z340)

• [Measure setting] in the [Measure] menu (Reference: Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340)

IMPORTANT


3

Appendices

SCNLOAD

Reads scene data.

<Command format>




(Example)When "LABEL1.SCN" in the "IMG01" folder of the USB memory to which the drive name "USBDisk2" is assigned is loaded to the Sensor Controller as scene 2.

<Command>

<Response>

Scene No. Specifies the scene No. to be read (0 to 127)

File name of scene data

Specifies the name of the file to be read with the absolute path (e.g., \USBDisk\abc.scn, E:\abc.scn).Only files that are under the following systems and have an "SCN" extension can be read.

Load to FH/FZ5-11@@ series FZ5-L35@/6@@ series




S C N L O A D


CR

File name of scene data

IMPORTANT

\ \ \

Command Control463


464

SCNSAVE

Saves scene data.

<Command format>




(Example)When scene data of scene No. 3 is saved with the file name "LABEL1.SCN" in the "IMG01" folder in the USB memory to which the drive name "USBDisk2" is assigned

<Command>

<Response>

Scene No. Specifies the scene No. to save (0 to 127).

Save destination

Specifies the save destination and file name during saving with the absolute path (e.g., \USBDisk\abc.scn, E:\abc.scn).Save destinations include directories under the following systems. Be sure to attach an "SCN" extension to the file name.




• If the specified file name already exists, this existing file will be overwritten.• Do not turn off power to the Sensor Controller until there is a response.• For the FH/FZ5-11@@ series, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would

reduce the storage area for scene data etc. and make correct operation impossible.

S C N S A V E


CR

Save destination

IMPORTANT

\ \ \


3

Appendices

SGRLOAD

Reads scene group data.

<Command format>




(Example)When "LABEL1.SGP" in the "IMG01" folder of the USB memory to which the drive name "USBDisk2" is assigned is loaded to scene group 3

<Command>

<Response>

Scene group No. Specifies the scene group No. to be read (0 to 31)

File name of scene group data

Specifies the name of the file to be read with the absolute path (e.g., \USBDisk\abc.sgp, E:\abc.sgp).Only files that are under the following systems and have an "SGP" extension can be read.

Load to FH/FZ5-11@@ series FZ5-L35@/6@@ series




• For the USB memory drive, see Saving Data to the FH/FZ5 in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z340)

IMPORTANT

\ \ \

Note

Command Control465


466

SGRSAVE

Saves scene group data.

<Command format>




(Example)When data stored in scene group 3 is saved with the file name "LABEL.SGP" in the "IMG01" folder in the USB memory to which the drive name "USBDisk2" is assigned

<Command>

<Response>

Scene group No. Specifies the scene group No. to save (0 to 31).

Save destination

Specifies the save destination and file name during saving with the absolute path (e.g., \USBDisk\abc.sgp, E:\abc.sgp).Save destinations include directories under the following systems. Be sure to attach an "SGP" extension to the file name.




• If the specified file name already exists, this existing file will be overwritten• Do not turn off power to the Sensor Controller until there is a response.• For the FH/FZ5-11@@ series, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would


IMPORTANT

\ \ \


3

Appendices

SYSDATA

Acquires settings related to loggingAcquires settings related to current logging.

<Command format>




Data Identifier Setting value

Image logging imageLogging0: None1: Only NG2: All

Folder name of image logging save destination

imageLoggingDirectorySave destination folder name (one-byte alphanumeric character)

Prefix for image logging file name imageLoggingHeaderPrefix for image logging file name (one-byte alphanumeric characters)

Data logging dataLogging0: None1: Only NG2: All

Name of destination folder for saving data logging

dataLoggingDirectorySave destination folder name (one-byte alphanumeric character)

Specifying the name of a folder to save to• The method for specifying the name of the folder to save to depends on the model.

• FH/FZ5-11@@RAM disk: C:\Data\RAMDiskUSB memory: E:\, F:\

• FZ5-L35@/FZ5-L6@@• RAM disk: \RAMDisk

USB memory: \USBDisk, \USBDisk2• For the FH/FZ5-11@@, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would

reduce the storage area for scene data and other data and make correct operation impossible.

IMPORTANT

Command Control467


468

(Example)Getting the image logging setting when the setting for the current image logging save condition is 1 (save only NG)

<Command>

<Response>

The current image logging save condition is "1: Only NG".


3

Appendices

Changes settings related to loggingChanges settings related to current logging.

<Command format>




Data Identifier Setting value

Image logging imageLogging0: None1: Only NG2: All

Folder name of image logging save destination

imageLoggingDirectorySave destination folder name (one-byte alphanumeric character)

Prefix for image logging file name imageLoggingHeaderPrefix for image logging file name (one-byte alphanumeric characters)

Data logging dataLogging0: None1: Only NG2: All

Name of destination folder for saving data logging

dataLoggingDirectorySave destination folder name (one-byte alphanumeric character)

Specifying the name of a folder to save to• The method for specifying the name of the folder to save to depends on the model.

• FH/FZ5-11@@RAM disk: C:\Data\RAMDiskUSB memory: E:\, F:\

• FZ5-L35@/FZ5-L6@@• RAM disk: \RAMDisk

USB memory: \USBDisk, \USBDisk2• For the FH/FZ5-11@@, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would

reduce the storage area for scene data and other data and make correct operation impossible.

IMPORTANT

Command Control469


470

(Example 1)When creating settings so that data logging is only performed during NG errors

<Command>

<Response>

(Example 2)When the RAMDisk is set as the image logging save destination

<Command>For FZ5-L35@/FZ5-6@@

For FH/FZ5-11@@

<Response>

S Y S D A T A L o g g i n g d a t a L o g g i n g 1 CR

S Y S D A T A L o g g i n g i am g e L o g g i n g D i r e c t o r y \ R A M D i s k CR

S Y S D A T A L o g g i n g i am g e L o g g i n g D i r e c t o r y C : \ D a t a \ R A M D i s k CR


3

Appendices

SYSLOAD

Reads system data.

<Command format>




(Example)When "LABEL.INI" in the "IMG01" folder of the USB memory to which the drive name "USBDisk2" is assigned is loaded

<Command>

<Response>

File name of system data

Specifies the name of the file to be read with the absolute path (e.g., \USBDisk\abc.ini, E:\abc.ini).Only files that are under the following systems and have an "INI" extension can be read.

Destination FH/FZ5-11@@ series FZ5-L35@/6@@ series




IMPORTANT

\ \ \

Command Control471


472

SYSSAVE

Saves system data.

<Command format>




(Example)When saving system data in the file named "LABEL.INI" in the "IMG01" folder in the USB memory to which the drive name "USBDisk2" is assigned

<Command>

<Response>

Save destination

Specifies the save destination and file name during saving with the absolute path (e.g., \USBDisk\abc.ini, E:\abc.ini).Save destinations include directories under the following systems. Be sure to attach an "INI" extension to the file name.




• If the specified file name already exists, this existing file will be overwritten• Do not turn off power to the Sensor Controller until there is a response.• For the FH/FZ5-11@@ series, do not save to a non-volatile area on the C drive (such as C:\ProgramFiles\FZ). This would


IMPORTANT

\ \ \


3

Appendices

TIMER or TMR

Issues the specified command string after a specified delay.

<Command format>

or




(Example)Getting the current scene number (scene 1) after 3,000 ms

<Command>

<Response>

LatencySpecifies the required delay to when the specified command is issued in milliseconds, 100 to 99999.

Command string Specifies the command string. (Max: 1024 characters)

T M R 3 0 0 0 S 1 CR

1 CR

Command Control473


474

UNITDATA or UD

Acquiring processing unit parameters and measurement valuesThe set parameters and measurement values for the processing units set in the scene currently being used are acquired.

<Command format>




(Example)Getting the value of the search judgement result (external reference 0) that was set in processing unit 5 for the judgement OK status

<Command>

<Response>

Processing unit No. Specifies the processing unit number (0 to the number of unit data items −1).

External reference table No.

Varies depending on the specified processing unit processing items. For more details, refer to External Reference Table for each processing item in Processing Item List Manual.

Measurement The acquired measurement value is output as a response.

1 CR

O K CR


3

Appendices

Changing processing unit parametersThe set parameters for the processing units set in the scene currently being used are changed.

<Command format>




(Example)When "Skipping angle" (external reference table value "124") in [Search] set as the 6th processing unit (processing unit number "5") is changed to "10"

<Command>

<Response>

(Example)When "Verification string" (external reference table value "139") in [Character Inspection] set as the 7th processing unit (processing unit number "6") is changed to "ABC"

<Command>

<Response>

Processing unit No. Specifies the processing unit number (0 to the number of unit data items −1).

External reference table No.

Varies depending on the specified processing unit processing items. For more details, refer to External Reference Table for each processing item in Processing Item List Manual.

Setting Data Sets the value of the settings data.

U N I T D A T A 6 1 3 9 A B C CR

Command Control475


476

UPDATEMODEL or UMD

Reregisters a model using the current image.

<Command format>

or




Processing unit No. Specifies the processing unit number of a model to reregister: 0 to the number of unit data − 1.

Model No.Specifies the model number to register a model: 0 to the uppermost unit model number in the unit.Specifying a nonexistent model number causes an error.

Target data

Specifies the target data.When the setting value is expressed in binary, if the 1st bit is 1, the model is re-registered.When the setting value is expressed in binary, if the 2nd bit is 1, the reference position is updated.When the setting value is expressed in binary, if the 3rd bit is 1, the detection position is updated.Example)• When only re-registering the model: 1 x 1 + 2 x 0 + 4 x 0 = 1 (setting value)• When only updating the reference position: 1 x 0 + 2 x 1 + 4 x 0 = 2 (setting value)• When updating or re-registering everything: 1 x 1 + 2 x 1 + 4 x 1 = 7 (setting value)

Target data (1 digit)Model No.Processing unit No.

U P D A T E M O D E L CR

Model No.Target data (1 digit)

Processing unit No.

U M D CR


3

Appendices

(Example)The following sample command reregisters a model with unit number 3, model number 0 and target data 1.

<Command>

<Response>

U M D 3 0 1 CR

Command Control477


478

USERACCOUNT or UAD

Adds user account to specified user groupAdds the user account to the specified affiliated group ID.If the user account for the set image is already registered, that setting is overwritten.

<Command format>

or




(Example)Using the UG0 password efg for user olduser to add an account with user name newuser with password abc in the UG0 group

<Command>

<Response>

Group Specifies a group ID to which a user account is to be added: 0 to 7.

User ID Specifies a user ID of the user to be added with up to 32 characters.

Password Specifies a password for the user to be added with up to 32 characters.

User name (UG0) Specifies the user name for a user belonging to the UG0 group (32 characters maximum).

Password (UG0) Specifies the password for the above UG0 group user (32 characters maximum).

U S E R A C C O U N T CR

User name (UG0) (32 characters max.)Password (UG0) (32 characters max.)

Password (32 characters max.)User ID (32 characters max.)Affiliated group ID (1 digit)

U A D CR


Password (32 characters max.)User ID (32 characters max.)Affiliated group ID (1 digit)

U A 0 n e w u s e r a b c o l ud s e r e f g CRD


3

Appendices

Deletes user account

Deletes the specified user account.If the specified user account does not exist, the command returns OK without doing any processing at all.

<Command format>

or




(Example)Using the UG0 password efg for user olduser to delete an account with user name newuser with password abc

<Command>

<Response>

User ID Specifies the user ID of the user to be deleted with up to 32 characters.

User name (UG0) Specifies the user name for a user belonging to the UG0 group (32 characters maximum).

Password (UG0) Specifies the password for the above UG0 group user (32 characters maximum).

U S E R A C C O U N T CR



U A D CR



n e w u s e r o l ud s e r e f g CRU A 0D

Command Control479


480

VERGET

Acquires the Sensor Controller version information.

<Command format>




(Example)When the Sensor Controller model name is "FZ5-XXX", the software version is "5.00", and the date is "June 1, 2013"

<Command>

<Response>

Version information• Sensor Controller model name• Software version

- X X X V e r . 5 . 0 0 2 0 1 3 / 0 6 / 0 1 CR

CR

F Z 5

O K


Manual Revision History

3

Appendices

The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover.

Rev. No. Rev. Date Revision Contents Software Version

01 Jul. 2013 Original production Ver. 5.00

02 Aug. 2013 Additions for software version upgrade. Ver. 5.10

03 Sep. 2013 Additions for software version upgrade. Ver. 5.12

04 Jan. 2014 Additions for software version upgrade. Ver. 5.20

05 Jun. 2014 Additions for software version upgrade. Ver. 5.30

Cat. No. Z342-E1-05

Revision code

Manual Revision History481


482

MEMO

Manual Revision History Vision System FH/FZ5 Series User’s Manualfor Communications Settings (Z342)

Authorized Distributor:

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. Z342-E1-05 0614

© OMRON Corporation 2013 All Rights Reserved.

OMRON Corporation Industrial Automation Company

OMRON ELECTRONICS LLC2895 Greenspoint Parkway, Suite 200 Hoffman Estates, IL 60169 U.S.ATel: (1) 847-843-7900/Fax: (1) 847-843-7787

Regional HeadquartersOMRON EUROPE B.V.Wegalaan 67-69, 2132 JD HoofddorpThe NetherlandsTel: (31)2356-81-300/Fax: (31)2356-81-388

Contact: www.ia.omron.comTokyo, JAPAN

OMRON ASIA PACIFIC PTE. LTD.No. 438A Alexandra Road # 05-05/08 (Lobby 2), Alexandra Technopark, Singapore 119967Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road, PuDong New Area, Shanghai, 200120, ChinaTel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

vision sensor fh/fz5 series vision system user's manual for

Documents